For these reasons and many other concerns, the research topic of robotic actuator fault detection and isolation has become quite popular among roboticists and researchers around the world. For instance, when one of the joint actuators of a robot arm fails completely, the robot arm starts to move haphazardly and chaotically, which could harm the humans with whom the robot interacts.A human–robot cooperative scenario, such as passing a cup of a hot coffee or a sharp object to a human, can make the situation even worse in the face of actuator failure. However, with all the care being taken, robots are still prone to sudden failures in their actuators and/or sensors, which poses a great challenge, as many safety related issues arise from these faults. Among the main control algorithms and methods are those based on compliance control and cooperative control. In recent years, the subject of safe robot–human interaction has received its share of attention, and a vast amount of literature has been compiled on the subject. ![]() Therefore, in the social domain, various layers of safety are required to protect humans in the vicinity of the robot. In human–robot physical interaction tasks, the human is inside the robot's motion space, and any random and uncontrolled move can be catastrophic. The controller demonstrated good performance in terms of tracking and stability when dealing with different joint actuator failures.Īlthough robots have been around for decades, their integration into social environments and physical interaction with human beings is still relatively new and very challenging.įor researchers and robot manufacturers, the main concern with robot–human interaction is ensuring the reliability of the robot and the safety of the human ( Khan et al., 2018, 2010 b Li et al., 2023). Simulation results show efficient tracking recovery after a joint actuator failure. The scheme is tested in simulation on the four degrees of freedom (DOF) model of the Bristol Robotics Laboratory (BRL) robot arm. The proposed scheme may help in addressing some safety issues arising from a joint failure, allowing it to finish the task at hand and stop it from going into a dangerous situation. This tracking restoration is very important to complete a safety-critical task. In this paper, an adaptive chaos sliding-mode controller is proposed to recover the tracking of the end effector when a fault occurs in any of the actuators. If such a scenario occurs, it poses a serious danger to the human in the loop as well as the robot. The robot arm is controlled by a proportional derivative (PD) controller in combination with an inherently fault-tolerant sliding-mode controller.ĭuring normal operation, if any of the joints of the robot arm develops a fault, the robot arm end effector may go into chaotic and dangerous motion. ![]() In this work, a human–humanoid interaction and cooperation scenario is considered. Safety in human–robot physical interaction and cooperation is of paramount interest.
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Its apparent relative, Misdreavus, is Ariga's favorite Pokémon.Flutter Mane was designed by Hitoshi Ariga.Flutter Mane has the lowest base HP, Attack, and Defense stats of all Paradox Pokémon.Flutter Mane has the highest base Special Defense stat of all Paradox Pokémon.Moves marked with a superscript game abbreviation can only be bred onto Flutter Mane in that game.Moves marked with a double dagger (‡) can only be bred from a Pokémon who learned the move in an earlier generation.This Pokémon learns no moves by breeding. Italic indicates a move that gets STAB only when used by an evolution of Flutter Mane.Bold indicates a move that gets STAB when used by Flutter Mane.If this Pokémon is given a Ring Target, the effectiveness of Dragon-type moves is 1×.If Foresight or Odor Sleuth is used by an opponent, the opponent has Scrappy, or this Pokémon is given a Ring Target, the effectiveness of Normal-type moves is 1× and the effectiveness of Fighting-type moves is ½×.Type effectiveness Under normal battle conditions in Generation IX, this Pokémon is: Maximum stats are calculated with 252 EVs, IVs of 31, and (if applicable) a helpful nature. ![]() Minimum stats are calculated with 0 EVs, IVs of 0, and (if applicable) a hindering nature. ![]() In side games Held items Stats Base stats Stat Game locations This Pokémon was unavailable prior to Generation IX. It has similar features to a ghostly pterosaur that was covered in a paranormal magazine, but the two have little else in common. This Pokémon has characteristics similar to those of Flutter Mane, a creature mentioned in a certain book. In the anime Major appearances Minor appearances In the manga Game data Pokédex entries This Pokémon was unavailable prior to Generation IX. ![]() According to the magazine, eyewitness accounts initially described it as resembling a giant Misdreavus, albeit a highly fierce and aggressive one, and that some believe it to be a ghost of a pterosaur from a long-gone era. It is said to float around the sky at night with its long hair writhing about it. In an article from a May issue of Occulture magazine, it is stated that Flutter Mane's name was taken from a strange creature with a matching description appearing in the Scarlet Book. Its large eyes are yellow with red sclerae. It has several round red gems around its neck and red spikes growing from the top of its head. While it has no visible arms or legs, its lower half has several small appendages and resembles a ruffled dress and its hair resembles a set of arms with feathers. Pokémon Brilliant Diamond and Shining Pearlįlutter Mane is a dark bluish-green, ghost-like Pokémon. Vectors while fun(…) expects only input matrices, Through a list, as in surf(x,y, list(delip, -0.4)) or ![]() If the 2D function fun to plot needs some parametersĪs input arguments, the function and its parameters can be specified Handle of a function, as in surf(x,y, myFun) where theĮxpected syntax of myFun is Z=myFun(X,Y). They define the data grid (horizontal coordinates of the grid nodes).Īll grid cells are quadrangular but not necessarily rectangular.Ī real matrix explicitly defining the heights of nodes, of sizes Two vectors of real numbers, of lengths nx and ny mark_background = 4 draw_marks ( " invisible foreground / cyan background " ) // - // With the surf command : // - Z = clf ( ) f = gcf ( ) f. mark_background = 0 draw_marks ( " black foreground / invisible background " ) subplot ( 2, 2, 4 ) a = gca ( ) a. mark_background = 4 draw_marks ( " black foreground / cyan background " ) subplot ( 2, 2, 3 ) a = gca ( ) a. data_bounds = theta = ( 1 / 15 ) * ( 2 * %pi ) * plot2d ( cos ( theta ), sin ( theta ) ) for i = 0 : 14 do theta = ( i / 15 ) * ( 2 * %pi ) plot2d ( cos ( theta ), sin ( theta ), style = - i ) end endfunction clf ( ) subplot ( 2, 2, 1 ) draw_marks ( " black foreground / white background " ) subplot ( 2, 2, 2 ) a = gca ( ) a. ', t, cos ( t ), ' cya+ ', t, abs ( sin ( t ) ), ' -mo ', ' markstyl ', ' diam ' ) // - // With the plot2d command : // - function draw_marks ( title ) a = gca ( ) a. ' marker ', ' sq ', ' markersize ', 6, ' markforegroun ', ' red ', ' markbackgro ', ) //multiple plots with different LineSpecs and finally some global GlobalProperty clf t = 0 : %pi / 20 : 2 * %pi plot ( t, sin ( t ), ' ro. ', ' marker ', ' > ', ' markeredg ', ' cyan ', ' markerFace ', ' yellow ', ' markersize ', 5 ) // combinations ' order in does not matter clf plot ( x, sin ( x ), ' marker ', ' p ', ' markerfac ', ' cyan ', ' markersiz ', 10 ) // combination of LineSpec and GlobalProperty shows the GlobalProperty predominance clf plot ( x, x. clf plot ( x, sin ( x ), ' colo ', ' red ', ' linest ', '. - // With the plot command : // - x = 1 : 10 // Init. Concerning dimensions, note that this new dataĭata. Matrix (re-)defining the given data for all the Is to say all those data matrices must be of the sameĭimensions. Concerningĭimensions, note that this new data must match all the With mark_size_unit enabled to "point" (seeĪ real vector or matrix (re-)defining the given data forĪll the plotted lines or surfaces. Property is linked to the object's mark_size property "MarkerSize" or "MarkSize":Ī scalar defining the marker size in point unit. This property is linked to the object's mark_background This property is linked to the object's mark_foreground Specify a marker without a line style, both line (withĭefault solid mode enabled) and marker are drawn.This Is linked to the object's line_style propertyĪ string defining the marker type. This property value should be a string defining a line style. The surface using color.data to determine a 'interp': an interpolated shading is done on.Per facet using the color of the first vertex of the facet. 'flat' (default mode): the Fac3d color.data values determine one color.'none': a mesh of the surface is drawn.Specifying the way the facet's color are rendered. This property is linked to the surface foreground "EdgeColor" or "Foreground" (surfaces only): This property is linked to the object's foreground property Red-Green-Blue intensities in the interval. "#RRGGBB" hexadecimal code (text), or by its index in theĬolor map (integer), or by the vector of its "Color" or "Foreground" (polylines only):Ī color specified by its name (text) among the predefined named This property is not yet available for surface entities. ![]() "CData" or "ColorData":Ī real matrix specifying the color at every points Or surf) and, as previously said, they are applied to the newĬorresponding to one property: the first one is the equivalentĭefault Matlab name, the second is the default name used by Scilabįor a line, see below). ![]() ![]() Those properties are available for both PolylineĪnd Fac3d objects (created respectively by plot Here is a complete list of the PropertyName youĪnd their available associated PropertyValue. Predominant on all LineSpec previously stated. Value is not required but those arguments, specified in any order, (line style) with diamond marker (marker), the sequence should be:Īs you can see, a full complete spelling of each property name and For example, to specify a red (color) longdash-dot Real, integer or string (scalar or matrix) depending on the type of PropertyName must be a case-insensitive string defining the Several (Name,Value) pairs can be specified in a single call to plot ( ) or Of all the new plotted lines (respectively surfaces). The GlobalProperty is an optional argument that can be used insideĪ plot or a surf ( ) command. They were in search of learning more about Darrell’s great-grandfather, who was a musician, but truly little was known. So I started embracing it and it started showing up in my music.”Īs it comes to writing “You’ll Never Leave Harlan Alive,” Darrell Scott recalled going on trips with his father, Wayne Scott, to Harlan County. I found a great bounty when that chase was over so probably in my thirties somewhere where I started really – I was always proud to be from Kentucky, but it’s like I turned a corner that ‘no wait a minute, Kentucky is very important to what I do.’ It’s my family. So I can remember a time where I wanted to downplay my Kentucky thing, even though with my parents and my brothers it’s pretty hard to do that. That’s part of growing up and you’ll find your own way. You might try to change your religion that you grew up in. As humans we try to get away from where we came from a little bit. ![]() So the Kentucky roots run very, very deep and it’s funny that we do this. At my age, 7 years old, believe me we played and did all kinds of music. My dad (Wayne) and all my brothers were standing at the back door of the Renfro Valley Barn Dance. “I was born in the hospital on the hill in London and it is no longer there.”ĭarrell’s musical roots ran deep as well. That’s where my roots come from,” Darrell recalled. “My family’s been from Kentucky for the past 200 years – Harlan County, coal mining, on both sides of my family, then coming into Knox County for tobacco farming. Darrell Scott looking at his special display at the Kentucky Music Hall of Fame and Museum. Among photos are lyric sheets for “Hummingbird” and “You’ll Never Leave Harlan Alive,” as well as the guitar he gave to his father years ago. While attending the exhibit reveal, Darrell Scott spoke about each of the items on display and why he chose each item. Most recently, the Kentucky Music Hall of Fame and Museum revealed a special exhibit featuring Darrell Scott’s works and family. ![]() When it comes to Kentucky songs, there is no one that haunts us more than “You’ll Never Leave Harlan Alive.” While many remember the Patty Loveless version of the song, they may not realize that it was written by Laurel County native, Darrell Scott. These types of lamps are unique and create a variety of colored UV light to illuminate a room. Like CFLs, HID lights contain mercury which needs to be recycled. They are also used in large warehouses or other facilities, stadiums, and even streetlights. HID lights are another common type of bulb used for settings in need of immense bright light. However, these bulbs release mercury if broken and should be recycled to contain the toxic gas. Also, they are more efficient than incandescent lights because they illuminate a room without producing much heat or energy. What Kinds of Light Bulbs Are Toxic and Should Be Recycled?įluorescents are popular light bulbs that provide light to many different places such as commercial stores, retail stores, industrial stores, school classrooms, and much more. This major concern is a threat to the environment and health of humans due to the exposure of toxic chemicals. ![]() Your recycling is our business.Each year, more than 670 million light bulbs filled with mercury are disposed improperly. Why not complete our enquiry form or call us on 03. Whether it’s batteries or light bulbs that you want to recycle, you can count on Gaskells. However, your local recycling centre will probably recycle these should you be left with it! Where Gaskells fit in If you’re replacing your car battery, most suppliers will take your old one and recycle it for you. Well, most household batteries can be recycled, including the batteries from the following: Your local recycling point may recycle these, so it’s always good to check however, they can be disposed of in the same way as incandescent or halogen bulbs.įluorescent lighting falls into our Waste Electric, and Electronic Equipment (WEEE) category and Gaskells can recycle these for you as a licensed company.įact: Did you know that one commercial fluorescent tube contains enough mercury to contaminate 30,000 litres of water! What types of batteries can be recycled?
Set of the Tracker - Gannicus Modular Armor Set of the Swashbuckler - Leather Loincloth (Barbarian Loincloths) + Leather gauntlets and boots (vanilla Skyrim) Set of the Skybreaker - Dungeon Guards Inspired Armor Set of the Skaragg - Orcish Armor (vanilla Skyrim) Set of the Rat Catcher - Draugr Armor (vanilla Skyrim) Set of the North - TERA Castanic Armor + Skimpy Crouch underwear Set of the Nemesis - Cultist Robes (vanilla Skyrim) Set of the Mysterious Nomad - Moonlight Assassin Armor Set of Selna - Hulk Outfit + Steel Gauntlets and Boots These are the modifications that will be made: ![]() This mod will replace most if not all armors in Enderal with armors which have SAM-compatible versions available on this site. What's New in Version 1.2.0 See changelog ![]() MAKE SURE YOU HAVE BACKUPS FOR VANILLA SKYRIM. THIS WILL EDIT THE ORIGINAL ESP FILES AND THEY WILL NO LONGER BE COMPATIBLE WITH VANILLA SKYRIM. The mods you selected should now detect the Half Arazealean and Half Qyranian races as Nord and Redguard, respectively. Remember to check the Backup Plugins option on the bottom. Once it's done, you can save the changes (ctrl+s) and close 圎dit. ![]() It might take a couple of minutes, depending on how large your mods are. In the script dropdown menu, find this script ('Enderal race patch script.pas') and click OK. Once all the mods have loaded, right-click on the mod(s) you want to patch in the left pane, and click on Apply Script. Just press OK and wait a couple of minutes while it loads. It will show you a list of all the currently loaded esps. If using NMM, Vortex or no mod manager, rename the 圎dit exe file (it might be named SSEEdit.exe) to EnderalEdit.exe and launch. If using Mod Organizer, add 圎dit as an executable (top right), add '-enderal' in the Arguments field, and launch it from there. This is an 圎dit script that patches SAM (and any armor mods) to be compatible with Enderal: Forgotten Stories.Īfter extraction, open the Edit Scripts folder, and paste this script there. ![]() In reading some other tasting notes, like at Master of Malt, they note peat but I couldn’t find any.
If you are interested in listing a rental property or roommate search, please complete the Listing Request Form.Students, please notify us by email to if you encounter fraudulent or suspicious rental listings, questionable practices or want to share a good or bad landlord experience.Landlords, please notify us by email to when your property is no longer available so we can remove the listing.Form responses will be reviewed and updated regularly and postings older than 120 days will be evaluated/removed in order to keep the information up to date. Please be mindful of others’ privacy and do not share personal contact information for yourself or others when completing the form. Interested Macalester students should complete the FORM and view RESPONSESto see if there are others with the same/similar needs. In addition to the rental listings submitted by the “ pubic at large” on the Off Campus Living website, there is an additional Off Campus Housing Need/Interest form available for Macalester College students ONLY, where housing needs can be shared with other Mac students for networking purposes.If you do not see your listing, feel free to submit a new one. Listings will remain on our webpage for at least thirty days, and will be reviewed and removed after 120 days.Please be patient, the form submission process is manually done by humans…your submission is not automatically added to the website. Rental listings are added as they are received through the “List a Rental” form and are posted throughout the year.The Office of Student Affairs at Macalester College neither researches nor verifies the information provided by potential landlords for rental properties, off-campus housing listings or resource guide. Note: Housing & Conference Services strives to ensure all information contained on this website is accurate, however we reserve the right to change any of the information at anytime without notice.Off Campus Housing Need/Interest – MAC Students ONLY Studying Away? Looking to lease? Looking for a place? Network With Other Macalester College Students Martin, “but there’s also a financial model that we have to be conscientious of.List a House, Apartment, Duplex, Sublet, Or Roommate-Request Form “Affordability is always top of mind for all of us,” says Ms. While rental fees for McMaster’s two new projects have yet to be set, a single room at one of the current residences is $8,965 (September to April) and includes access to residence facilities and wireless internet. Across Canada, most students (62 per cent) earn an annual income of $20,000 or less. It showed that 58 per cent of McMaster students who rent off campus live in accommodations with three or more roommates.Īccording to the survey, seven out of 10 students spend more than 30 per cent of their total income on housing. UTILE estimates that more than 1.5 million students are renters, of which 1.3 million are in the private market (outside of campus). The new student residences at McMaster will mean space will be open to anyone who wants it, says Debbie Martin, assistant vice-president and chief facilities officer at McMaster.Ī 2021 national survey of 18,000 students, released last fall by UTILE, a Montreal-based non-profit that specializes in building affordable student housing, showed that the median student rent for on- and off-campus accommodation in Canada was $1,250 per month, 25-per-cent higher than the rest of renter households. “There’s been an opportunity to increase the quality and quantity.” The school estimates off-campus housing outside of living with parents to be 13,268, but prices can be higher or lower based on number of residents. “Running and operating student residences has not always been a core business ,” says Mr. “Those community feelings are what’s driving a lot of students to stay in their residences for more than just one year,” Mr. According to McMaster research, structured residence living for first-year students leads to improved student retention into second year, higher rates of graduation and a better grade point average compared to kids who live off campus in first year. Through continual improvements to the student living experience, we are helping to shape a Brighter World. Universities and colleges are providing temporary housing and emergency funds while. Housing & Conference Services serves our McMaster University students and supports on and off-campus student success through inclusion, community engagement, and activities that promote personal growth, health and wellbeing. playbook by creating communities on campuses. Searching for sustainable solutions to food insecurity on campus. ![]() Sparrow say developers are taking a page out of the U.S. 34. The $150-million residence, located on Main Street, will house 1,366 beds, a fitness centre, communal kitchens on every floor and a dining hall. The Lincoln Alexander Hall for undergraduate students will open in 2026. ![]() The flavors are fine, and overall it is pretty enjoyable. I like the fact that they are on the smaller side, which I find to be more authentic (at least according to my limited experience eating xiao long bao in Shanghai). Their Crab Soup Dumpling (Xiao Long Bao) is solid. Japanese eggplant stuffed with shrimp is deep fried and served with oyster sauce. I love the Fried Stuffed Eggplant ($3.49), a dish that especially shines because it's made-to-order. It is truly one of the best dim sum places in Boston. In general, the food here is very good and you won't be disappointed. Pictured below is a selection of dishes that we've tried. There were chairs separating us from the other party, so it didn't feel too intrusive.įood is very reasonably priced, with most dim sum dishes costing $3.49 a plate. Larger plates cost between $7 - $10, but overall, you won't spend too much money on a very satisfying and tasty meal. Bryan and I sat at a large round table with another group of three people. Don't be surprised if they ask if you are willing to share a table with another group of people. ![]() The tiny dining area consists mostly of large round tables. This past year, I finally had a chance to visit while my mom was in town, and subsequently went back several times. ![]() Imagine, you can stop by on any random weeknight to get your dim sum fix.Īfter hearing more and more people declare that Winsor had the best dim sum in Boston, I knew that I had to go try it. Furthermore, dim sum is available anytime of the day, every day of the week (not just weekend brunch!). Instead, you order dim sum items individually, and the kitchen makes each item to-order. It is a tiny, unassuming restaurant in the middle of Chinatown. Winsor is completely the opposite of Hei La Moon. The other place, which I only heard about more recently, is Winsor Dim Sum Cafe. It's a place that's popular for weddings as well as large group functions. One is Hei La Moon, a huge, bustling two-story restaurant in Chinatown that serves dim sum the tradition way, where servers roll carts full of dim sum to all the tables, tempting diners with visual displays of all the enticing dishes. However, if you manage to sneak in at about 11:30, when things haven’t picked up yet, you can sit peacefully at your own table and all the carts come to you instead of you trying to wave down a person on the other side of the restaurant.Usually, I hear two places mentioned. The carts travel around the restaurant and by the time the server gets to you, most of the good stuff is gone. The only bad thing about dim sum is that if you go exactly at a meal time, good luck getting your own table and some service. My family has been eating shrimp shumai (we call them shrimp balls) ever since I could hold chopsticks! The Beef chow fun is one of my favorites too but ever since I found a recipe online, I’ve been trying to cook this at home so I can explore new dishes when I go out. The eggplant stuffed with shrimp sounded good in theory. By far my favorite dish: shrimp in rice noodle w soy sauce!Ĭrab claw (decent, but mostly just fried batter) Or maybe because it’s located next to a parking lot, and since dimsum can be really fast if you order everything from a few carts (like we do), you can be in and out within 30 minutes and not pay an arm and leg for parking in Boston. For the past 20 years or so, my family has been going to the best dim sum restaurant in Chinatown: Lung function can be controlled externally via innervation of the respiratory muscles and diaphragm. Normal pulmonary lymph nodes are not seen on radiography. ![]() The deep lymphatic plexus accompanies the bronchovascular structures draining the intrapulmonary lymph nodes into the hila 6. The superficial lymphatic plexus is subpleural draining the surface of the lungs and margins of lung fissures into bronchopulmonary nodes at the hila. The lymphatics drain via superficial and deep lymphatic plexuses to bronchopulmonary nodes at the hilum, tracheobronchial nodes, paratracheal nodes, and finally into the bronchomediastinal trunks 6. Sympathetic supply arises from T1-4 sympathetic ganglia (via the pulmonary plexus)Ĭauses vasodilatation of the pulmonary vasculature Supplies afferent fibers for the cough reflexĬauses vasoconstriction of the pulmonary vasculature Parasympathetic supply arises from the vagus nerve The lungs are supplied by sympathetic, parasympathetic and visceral afferent fibers from the pulmonary plexus, which itself is composed of fibers from the vagus nerve (parasympathetic and visceral afferent fibers) and fibers from the cervical and upper four sympathetic ganglia. Pulmonary veins: drain into the left atriumīronchial veins: drain to the pulmonary veins, superior vena cava, and azygos venous system Pulmonary arteries: supply deoxygenated blood from the right ventricleīronchial arteries: branches of the thoracic aorta that supply oxygenated blood The lungs have dual arterial supply and venous drainage: pulmonary arteries and veins as well as bronchial arteries and veins: In any organ, the parenchyma refers the functional tissues thus, the strict definition of lung parenchyma only includes the alveoli, alveolar ducts, and respiratory bronchioles. It is composed of respiratory bronchioles, alveolar ducts and alveoli, and is the location of gas transfer within the lung. The respiratory zone is an extension of the tracheobronchial tree at the level of the terminal bronchioles. Their walls contain cilia to remove particulates from the inspired gas and cartilage to ensure that they do not collapse in expiration. Their function is to optimize gas delivery to the functional portion of the lung. The conduction zone is composed of the trachea, bronchi, bronchioles and terminal bronchioles. Gas is warmed and humidified as it is conducted from the oropharynx to the functional portion of the lung where gas exchange occurs. It can broadly be divided into conduction and respiratory zones. The tracheobronchial tree is a branching structure of tubes of an ever-decreasing diameter that start at the larynx and end in the alveoli. Each lung has an oblique fissure with a horizontal fissure also present in the right lung. ![]() The lobes of the lungs are also incompletely separated by fissures. See main article: bronchopulmonary segmental anatomy. They are surrounded by the pleura which separates them from the chest wall. In most individuals, the right lung is composed of three lobes subdivided into 10 segments and the left is composed of two lobes and eight segments. The lungs lie in the thoracic cavity, separated by the heart and mediastinum. While the two lungs are similar, they are not completely symmetrical, having a different number of lobes and a different bronchial and vascular anatomy. |
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