OPIHI.IO Compilation 2022

BuildingCodesandAuthority

InternationalResidentialBuildingCode,2018Edition Chapter5BHawaiiCountyCode(HCC5B)

NationalElectricalCode,2017Edition

Chapter5DHawaiiCountyCode(HCC5D)

InternationalEnergyConservationCode,2018Edition

Chapter5FHawaiiCountyCode(HCC5E)

EnergyConservationCode(InterimperHRS107-28, StateEnergyConservationCode,2018IECCas amended)

UniformPlumbingCode,2012Edition

Chapter5FHawaiiCountyCode(HCC5F)

ApplicableLoadingASCE7-16

AmendedSBCC11/13/2018

https://ags.hawaii.gov/bcc/building-code-rules/wind-maps/

WINDDESIGNSPEEDVeff-ult: 126MPH FigureR301.2(8)(a)

WINDEXPOSURE: C

SEISMICDESIGNCATEGORY: EadjustedtoD2 R301.2.2.1.

FLOORLIVELOAD: 100PSF

ROOFLIVELOAD: 20PSF

HIGHWINDREGION: NO

SquareFootages

WALTER STEWART FULLERTON, AIA ARCHITECT

C.E. IHILANI PHILLIPS, AIA - BIOMIMETICIST-FUTURIST FOUNDER AND CEO

DAVID HAMBY, AIA - ARCHITECT-FUTURIST

DR. WILLIAM C. FOULK, AIA - BIOMIMETICIST-FUTURIST FOUNDER

WILLIAM A. FOULK, NETWORK ADMINISTRATOR

JAMIE BUSCH, AIA - ARCHITECT

RORY BOLTON ENGINEERING CONTRACTOR

COMPUTER CODING HI TECH

OPIHI.IO USES (12) LANGUAGES

ACROSS ALL DISCIPLINES - SEE SHEET A012 FOR EXAMPLES

*PRESENTLY ASSEMBLED TECHNOLOGIES IN THIS ENTIRE COMPILATION ARE USING C, C++, C#, LISP, PASCAL, MARLIN, SKETCH, PYTHON, JAVA, KRL, HTML, JAVASCRIPT, G-CODE, M-CODE AND MATLAB.

OPIHI.IO IS WORKING TO CONSOLIDATE LANGUAGES, FIRMWARE AND HARDWARE FOR A SINGLE OPEN-SOURCE PLATFORM THAT IS PYTHON BASED. STAY TUNED!

DOC

PARAMTERIC DESIGN USING VISUAL SCRIPTING

HI TECH - SEE SHEET A022.4

OPTICAL FLAW DETECTION - SEE SHEET AO32.31 FOR EXAMPLES

1. Adjustmentwheel-Turningtheadjustmentwheelcounterclockwiseextendsthe headband.Turningtheadjustmentwheelclockwisetightenstheheadband.

2. Powerbutton-Pressingthepowerbuttonturnsthedeviceon.Pressingthepower buttonwhilethedeviceisoncausesittosleep.Toturnthedeviceoff,pressandholdthe powerbuttonfor5secondsoruntilall5LEDindicatorsfadeout.

3. LEDindicators-Whenthedeviceispoweredon,theLEDindicatorsdisplaythe batterylevel.EachLEDrepresentsroughly20%oftheoverallbatterylevel.Thebattery isfullychargedwhenall5LEDsarelit.

4. USBType-Cchargingport-TheHoloLens2comeswithaUSB-Ccableandan 18Wcharger.Thisportmayalsobeusedtoconnectthedevicetoacomputer.

5. Overheadstrap-Theoverheadstrapisadjustableandmayalsobedetached.

6. Brightnessbuttons-Thefrontbrightnessbuttonincreasesdisplaybrightness.The otherbrightnessbuttondecreasesdisplaybrightness.

7. Volumebuttons-Thefrontvolumebuttonincreasesdevicevolume.Theother volumebuttondecreasesdevicevolume.

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near-examples

/ nft-tutorial-js

Public generatedfromnear/near-sdk-js-template-project

}):number

//getthesetoftokensforthepassedinowner lettokens= restoreOwners(contract.tokensPerOwner.get(accoun tId));

//ifthereisn'tasetoftokensforthepassedin accountID,we'llreturn0 if(tokens==null){ return0 }

//ifthereissomesetoftokens,we'llreturnthe length returntokens.len(); }

//Queryforallthetokensforanowner exportfunctioninternalTokensForOwner({ contract, accountId, fromIndex, limit }:{ contract:Contract, accountId:string, fromIndex?:string, limit?:number

}):JsonToken[]{

//getthesetoftokensforthepassedinowner lettokenSet= restoreOwners(contract.tokensPerOwner.get(accoun tId));

//ifthereisn'tasetoftokensforthepassedin accountID,we'llreturn0 if(tokenSet==null) return[]; }

//wheretostartpagination-ifwehavea fromIndex,we'llusethat-otherwisestartfrom0 index letstart=fromIndex?parseInt(fromIndex) 0; //takethefirst"limit"elementsinthearray.Ifwe didn'tspecifyalimit,use50 letmax=limit?limit 50; letkeys=tokenSet.toArray();

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import{assert,near,UnorderedSet}from"near-sdk-js"; import{Contract,DELIMETER}from"."; import{Sale from"./sale"; import{internalSupplyByOwnerId}from"./sale_views";

///whereweaddthesalebecauseweknownftownercanonlycall nft_approve exportfunctioninternalNftOnApprove({ contract, tokenId, ownerId, approvalId, msg }:{ contract:Contract, tokenId:string, ownerId:string, approvalId:number, msg:string })

//getthecontractIDwhichisthepredecessor letcontractId=near.predecessorAccountId();

//getthesignerwhichisthepersonwhoinitiatedthetransaction letsignerId=near.signerAccountId();

//makesurethatthesignerisn'tthepredecessor.Thisissothat we'resure //thiswascalledviaacross-contractcall assert(signerId!=contractId,"thisfunctioncanonlybecalledvia across-contractcall");

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nft-tutorial-js/src/nft-contract/enumeration.ts

@BenKurrek

BenKurrekfixedinternalnfttokencalls

Latestcommit9d771f6onAug6

History

1contributor

99lines(89sloc)2.97KB

//@ts-nocheck import near,UnorderedSet}from"near-sdk-js"; import Contract,NFT_METADATA_SPEC, NFT_STANDARD_NAME}from"."; import restoreOwners}from"./internal"; import JsonToken}from"./metadata"; import internalNftToken}from"./nft_core";

//QueryforthetotalsupplyofNFTsonthecontract exportfunctioninternalTotalSupply({

}:{

contract

contract:Contract

}):number

//returnthelengthofthetokenmetadatabyID returncontract.tokenMetadataById.len(); }

//Queryfornfttokensonthecontractregardlessoftheowner usingpagination exportfunctioninternalNftTokens({ contract, fromIndex, limit

}:{

//makesuretheownerIDisthesigner. assert(ownerId==signerId,"onlytheownerofthetokencan approveit");

//weneedtoenforcethattheuserhasenoughstoragefor1 EXTRAsale.

letstorageAmount=contract.storage_minimum_balance();

//getthetotalstoragepaidbytheowner letownerPaidStorage=contract.storageDeposits.get(signerId)|| BigInt(0);

//getthestoragerequiredwhichissimplythestorageforthe numberofsalestheyhave+1

letsignerStorageRequired= (BigInt(internalSupplyByOwnerId({contract,accountId:signerId}))+ BigInt(1))*BigInt(storageAmount);

//makesurethatthetotalpaidis>=therequiredstorage assert(ownerPaidStorage>=signerStorageRequired,"theowner doesnothaveenoughstoragetoapprovethistoken");

//ifallthesecheckspasswecancreatethesaleconditions object. letsaleConditions=JSON.parse(msg); if(!saleConditions.hasOwnProperty('sale_conditions')|| Object.keys(saleConditions).length!=1){ near.panic("invalidsaleconditions");

//createtheuniquesaleIDwhichisthecontract+DELIMITER+ tokenID letcontractAndTokenId= `${contractId}${DELIMETER}${tokenId}`;

fromtkinterimport* importre

#Here,wearecreatingourclass,Window,andinheritingfromtheFrame #class.Frameisaclassfromthetkintermodule.(seeLib/tkinter/__init__)

classWindow(Frame):

#Definesettingsuponinitialization.Hereyoucanspecify def__init__(self,master=None):

#parametersthatyouwanttosendthroughtheFrameclass. Frame.__init__(self,master)

#referencetothemasterwidget,whichisthetkwindow self.master=master

#withthat,wewanttothenruninit_window,whichdoesn'tyetexist self.init_window()

#Creationofinit_window definit_window(self):

#changingthetitleofourmasterwidget self.master.title("UsedFilamentData")

#allowingthewidgettotakethefullspaceoftherootwindow self.pack(fill=BOTH,expand=1)

#creatingamenuinstance menu=Menu(self.master) self.master.config(menu=menu)

#createthefileobject) file=Menu(menu)

#addsacommandtothemenuoption,callingitexit,andthe #commanditrunsoneventisclient_exit file.add_command(label="Exit",command=self.client_exit)

#added"file"toourmenu menu.add_cascade(label="File",menu=file)

#Creatingthebutton quitButton=Button(self,text="LoadGCODE",command=self.read_gcode) quitButton.place(x=0,y=0)

defget_filament_value(self,filename): withopen(filename,'r')asf_gcode: data=f_gcode.read() re_value=re.search('filamentused=.*?\(([0-9.]+)',data)

ifre_value: value=float(re_value.group(1)) else: print'filamentnotfoundin{}'.format(root.fileName) value=0.0 returnvalue

printget_filament_value('test.gcode')

defread_gcode(self):

}

lettokens:JsonToken[]=[] for(let=start;i<max;i++){ if(i>=keys.length){ break; }

lettoken=internalNftToken({contract,tokenId: keys[i]}); tokens.push(token); } returntokens;

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}

contract:Contract, fromIndex?:string, limit?:number }):JsonToken[] lettokens=[];

JAVAscript SMARTcontract

//wheretostartpagination-ifwehaveafromIndex,we'lluse that otherwisestartfrom0index letstart=fromIndex?parseInt(fromIndex) 0; //takethefirst"limit"elementsinthearray.Ifwedidn'tspecifya limit,use50 letmax=limit?limit:50;

letkeys=contract.tokenMetadataById.toArray(); //PaginatethroughthekeysusingthefromIndexandlimit for(let=start;<keys.length&&<start+max;i++) //getthetokenobjectfromthekeys letjsonToken=internalNftToken({contract,tokenId: keys[i][0]}); tokens.push(jsonToken);

} returntokens;

//getthetotalsupplyofNFTsforagivenowner exportfunctioninternalSupplyForOwner({ contract, accountId

}:{

//insertthekeyvaluepairintothesalesmap.Keyistheunique ID.valueisthesaleobject contract.sales.set(contractAndTokenId,newSale({ ownerId:ownerId,//ownerofthesale token approvalId:approvalId,//approvalIDforthattokenthatwas giventothemarket nftContractId:contractId,//NFTcontractthetokenwasminted on tokenId:tokenId,//theactualtokenID saleConditions:saleConditions.sale_conditions//thesale conditions }));

//Extrafunctionalitythatpopulatescollectionsnecessaryforthe viewcalls //getthesalesbyownerIDforthegivenowner.Ifthereare none,wecreateanewemptyset letbyOwnerId=contract.byOwnerId.get(ownerId)as UnorderedSet||newUnorderedSet(ownerId); //inserttheuniquesaleIDintotheset byOwnerId.set(contractAndTokenId); //insertthatsetbackintothecollectionfortheowner contract.byOwnerId.set(ownerId,byOwnerId);

//getthetokenIDsforthegivennftcontractID.Iftherearenone, wecreateanewemptyset letbyNftContractId=contract.byNftContractId.get(contractId)as UnorderedSet||newUnorderedSet(contractId); //insertthetokenIDintotheset byNftContractId.set(tokenId); //insertthesetbackintothecollectionforthegivennftcontract ID contract.byNftContractId.set(contractId,byNftContractId);

contract:Contract, accountId:string

STPRMTRUNI/BIPLR4V1.2A/PHSEN17

steppermotors

METERINGPERISTALTICPUMPS FORADMIXTURES

EXTRUDER ORIENTATION FORCURVES

57HS76270oz.in.N23 steppermotors

BALLVALVE POSITIONFOR

TEXTURES

4.5AST-4045 stepper motordriver

4.5AST-4045 stepper motordriver

4.5AST-4045 stepper motordriver

4.5AST-4045 stepper motordriver

4.5AST-4045 stepper motordriver

CNCUSBport interface breakoutboard

CNCUSBport interface breakoutboard

NUMBAPYTHONcompilerthatrivalsC/orFORTRANforthe speedtheprogramruns. seehttps://numba.pydata.org/

Example:

@njit(parallel=True)

deftest(x):

n=x.shape[0]

a=np.sin(x)

b=np.cos(a*a)

acc=0 forinprange(n-2): forinprange(n-1):

acc+=b[i]+b[j+1]

returnacc

test(np.arange(10))

test.parallel_diagnostics(level=4)

produces:

================================================================

================

=======ParallelAcceleratorOptimizing:Functiontest,example.py(4)=======

================================================================

================

ParallellooplistingforFunctiontest,example.py(4)

--------------------------------------|loop#ID

@njit(parallel=True)

deftest(x):

n=x.shape[0]

a=np.sin(x)---------------------|#0

b=np.cos(a*a)-----------------|#1

acc=0 forinprange(n-2):-----------|#3 forinprange(n-1):-------|#2 acc+=b[i]+b[j+1] returnacc |

---------------------------------Fusingloops---------------------------------

Attemptingfusionofparallelloops(combinesloopswithsimilarproperties)...

Tryingtofuseloops#0and#1:

-fusionsucceeded:parallelfor-loop#1isfusedintofor-loop#0.

Tryingtofuseloops#0and#3:

-fusionfailed:loopdimensionmismatchedinaxis0.slice(0,x_size0.1,1)

!=slice(0,$40.4,1) -----------------------------BeforeOptimization------------------------------

Parallelregion0:

+--0(parallel)

+--1(parallel)

Parallelregion1: +--3(parallel) +--2(parallel)

NUMBAC++ for PYTHON

(Generatedon8/21/2015at11:59:37AM)

% G00G18G54G40G80G90.1(SafeStartBlock)

% (StartingGcodeforTurningCycle:TurnCycle-0) ([Xi,Zi]=[3,0];[Xf,Zf]=[2,-2];Z-Direction;OD) (Roughing)

% G00G18G54G40G80G90.1(SafeStartBlock)

% T0101

G99(FeedperRevolution)

G96S500(ConstantSurfaceSpeed)

M03(SpindleForward)

M08(Flood)

G00X3.1000Z0.1000(RapidmovetoClearanceHeight)

G01X2.9500F0.0016

G01Z-2.0280F0.0016

G01X3.0000Z-2.0530F0.0016

G00X3.1000Z-1.9280

G00Z0.1000

G00X3.0500Z0.1000(RapidmovetoClearanceHeight)

G01X2.9000F0.0016

G01Z-2.0030F0.0016

G01X2.9500Z-2.0280F0.0016

G00X3.0500Z-1.9030

G00Z0.1000

G00X2.9540Z0.1000(RapidmovetoClearanceHeight)

G01X2.8540F0.0016

G01Z-1.9800F0.0016

G01X2.9000Z-2.0030F0.0016

G00X2.9540Z-1.8800

G00Z0.1000

G00X2.9540Z0.1000(RapidmovetoClearanceHeight)

G01X2.8040F0.0016

#!/usr/bin/envpython #-*-coding:utf-8-*-

""" CreateKUKAsrcfileseasilyinpythonthatrunonKUKAKR4robots.

AUTHOR:JonathanMalott(JonathanMalott.com)

UniversityofTexasatAustinSchoolofArchitecture

v0.3.2EditedNovember152021

""" classkukapython:

def__init__(self,name):

self.TOOL_IS_DEFINED=False self.BASE_IS_DEFINED=False

#AnArraythatwillcontainallofthecommands

self.code=[]

#addsomeinitialsetupstuff

self.code.append("DEF"+str(name)+"()")

self.code.append("GLOBALINTERRUPTDECL3WHEN$STOPMESS==TRUEDO IR_STOPM()")

""" INTERRUPT

DescriptionExecutesoneofthefollowingactions:

-Activatesaninterrupt.

-Deactivatesaninterrupt.

-Disablesaninterrupt.

-Enablesaninterrupt. Upto16interruptsmaybeactiveatanyonetime

""" #self.code.append("INTERRUPTON3")

self.code.append("$APO.CDIS=0.5000")

self.code.append("BAS(#INITMOV,0)")

self.code.append("BAS(#VEL_PTP,20)")

self.code.append("BAS(#ACC_PTP,20)")

self.code.append("")

""" Advancerun

------------------------------AfterOptimization------------------------------

Parallelregion0:

+--0(parallel,fusedwithloop(s):1)

Parallelregion1:

+--3(parallel) +--2(serial)

Parallelregion0(loop#0)had1loop(s)fused.

Parallelregion1(loop#3)had0loop(s)fusedand1loop(s)serializedaspart ofthelargerparallelloop(#3). ---------------------------Loopinvariantcodemotion---------------------------

Instructionhoisting:

loop#0:

Failedtohoistthefollowing:

dependency:$arg_out_var.10=getitem(value=x,index=$parfor__index_5.99)

dependency:$0.6.11=getattr(value=$0.5,attr=sin)

dependency:$expr_out_var.9=call$0.6.11($arg_out_var.10,func=$0.6.11, args=[Var($arg_out_var.10,example.py(7))],kws=(),vararg=None)

dependency:$arg_out_var.17=$expr_out_var.9*$expr_out_var.9

dependency:$0.10.20=getattr(value=$0.9,attr=cos)

dependency:$expr_out_var.16=call$0.10.20($arg_out_var.17,func=$0.10.20, args=[Var($arg_out_var.17,example.py(8))],kws=(),vararg=None)

loop#3:

Hasthefollowinghoisted:

$const58.3=const(int,1)

$58.4=_n_23 $const58.3

;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;

;;;perceptronlearning single-layerneuralnetworks

;;;make-perceptronreturnsaone-layernetworkwithmunits,ninputseach

(defunmake-perceptron(nm&optional(g#'(lambda(i)(step-function0i)))

&aux(lnil))

(dotimes(im(listl))

(push(make-unit:parents(iota(1+n))

l)))

:childrennil

:weights(random-weights(1+n)-0.5+0.5)

:gg)

(defunmajority-perceptron(n&optional(g#'(lambda(i)(step-function0i))))

(list(list(make-unit:parents(iota(1+n))

:childrennil

:weights(cons(/n4) (make-listn:initial-element0.5))

:gg))))

;;;perceptron-learningisthestandard"inductionalgorithm" ;;;andinterfacestothelearning-curvefunctions

(defunperceptron-learning(problem) (nn-learningproblem (make-perceptron (length(learning-problem-attributesproblem)) (length(learning-problem-goalsproblem))) #'perceptron-update))

;;;Perceptronupdating-simpleversionwithoutlowerboundondelta ;;;Hertz,Krogh,andPalmer,eq.5.19(p.97)

(defunperceptron-update(perceptronactual-inputspredictedtarget &optional(learning-rate0.1) &aux(all-inputs(cons-1actual-inputs))) (mapc#'(lambda(unitpredicted-itarget-i) (mapl#'(lambda(weightsinputs) (incf(carweights)

(*learning-rate (-target-ipredicted-i) (carinputs)))) (unit-weightsunit)all-inputs)) (carperceptron)predictedtarget) perceptron)

G01Z-1.9800F0.0016

G01X2.8540Z-1.9800F0.0016

G00X2.9540Z-1.8800

G00Z0.1000

G00X2.9040Z0.1000(RapidmovetoClearanceHeight)

G01X2.7540F0.0016

G01Z-1.9800F0.0016

G01X2.8040Z-1.9800F0.0016

G00X2.9040Z-1.8800

G00Z0.1000

G00X2.8540Z0.1000(RapidmovetoClearanceHeight)

G01X2.7040F0.0016

G01Z-1.9800F0.0016

G01X2.7540Z-1.9800F0.0016

G00X2.8540Z-1.8800

CLISPAI for WINDOWS G-CODE for 3DCP

G00Z0.1000

G00X2.4040Z0.1000(RapidmovetoClearanceHeight)

G01X2.2540F0.0016

G01Z-1.9800F0.0016

G01X2.3040Z-1.9800F0.0016

G00X2.4040Z-1.8800

G00Z0.1000

G00X2.3540Z0.1000(RapidmovetoClearanceHeight)

G00X2.2226Z0.1000(RapidmovetoClearanceHeight)

G01X2.0726F0.0016

G01Z-1.9550F0.0016

G01X2.1226Z-1.9800F0.0016

G00X2.2226Z-1.8550

G00Z0.1000

G00X2.1400Z0.1000(RapidmovetoClearanceHeight)

G01X2.0400F0.0016

G01Z-1.9387F0.0016

G01X2.0726Z-1.9550F0.0016

G00X2.1400Z-1.8387

G00Z0.1000

G00X2.1400Z0.1000(RapidmovetoClearanceHeight)

G01X1.9900F0.0016

G01Z-0.0480F0.0016

G01X2.0400Z-0.0730F0.0016

G00X2.1400Z0.0520

G00Z0.1000

G00X2.0900Z0.1000(RapidmovetoClearanceHeight)

G01X1.9400F0.0016

G01Z-0.0230F0.0016

G01X1.9900Z-0.0480F0.0016

G00X2.0900Z0.0770

G00Z0.1000

G00X1.9940Z0.1000(RapidmovetoClearanceHeight)

G01X1.8940F0.0016

G01Z0.0000F0.0016

G01X1.9400Z-0.0230F0.0016

G00X1.9940Z0.1000

G00Z0.1000 (Finishing)

{

{

Theadvancerunisthemaximumnumberofmotionblocksthattherobotcontrollercalculates andplansinadvanceduringprogramexecution.Theactual numberisdependentonthecapacityofthecomputer

Theadvancerunreferstothecurrentpositionofheblockpointer.Itissetvia thesystemvariable$ADVANCE:

KukaPython for KR150-2

-Defaultvalue:3

-Maximumvalue:5 Theadvancerunisrequired,forexample,inordertobeabletocalculateapproximate positioningmotions.If$ADVANCE=0isset,approximatepositioningisnotpossible. Certainstatementstriggeranadvancerunstop.Theseincludestatements thatinfluencetheperiphery,e.g.OUTstatements """ self.code.append("$advance=3")

#--------------------------------------------------------------

#ThefollowingmethodsareusedtosettheTOOL

#--------------------------------------------------------------

defsetToolNumber(self,toolNumber): if(self.TOOL_IS_DEFINED==False): self.code.append("$TOOL=TOOL_DATA["+str(toolNumber)+"]") self.TOOL_IS_DEFINED=True return raiseException('Youhavealreadydefinedatool.EitheusesetToolNumberor setToolCoordinatesbutnotboth.')

defsetToolCoordinates(self,x,y,z,a,b,c):

#if(self.TOOL_IS_DEFINED==False): if(True): self.code.append("$TOOL={X"+str(x)+",Y"+str(y)+",Z"+str(z)+",A"+str(a)+",B"+str(b)+", C"+str(c)+"}") self.TOOL_IS_DEFINED=True return raiseException('Youhavealreadydefinedatool.EitheusesetToolNumberor setToolCoordinatesbutnotboth.')

//Definepinconnections&motor'sstepsperrevolution constintdirPin=2; constintstepPin=3; constintstepsPerRevolution=200;

voidsetup()

//DeclarepinsasOutputs pinMode(stepPin,OUTPUT); pinMode(dirPin,OUTPUT);

} voidloop()

SKETCH codefor

//Setmotordirectionclockwise

digitalWrite(dirPin,HIGH);

Steppers

//Spinmotorslowly for(intx=0;x<stepsPerRevolution;x++)

{ digitalWrite(stepPin,HIGH); delayMicroseconds(2000); digitalWrite(stepPin,LOW); delayMicroseconds(2000);

} delay(1000);//Waitasecond

1.5CUBICYARDHOPPER FROM500GALLON PROPANETANK

2.5CUBICYARDHOPPER FROM500GALLON PROPANETANK

ROLLBANDFROMA36 STEELTYPICAL

2INCHPIPESPINDLESTO MECHANUMTROLLEYAGV BELOW

1

GRACOTOUGHTEKCM40COMPUTERCONTROLLEDWATERPUMP

GRACOTOUGHTEKCM40COMPUTERFEMABOXDINRAILS

GRACOTOUGHTEKCM40COMPUTERCONTROLLEDCONCRETEBATCHPLANT

KUKA SEIMENS TRANSFORMER 13KVA

RIGHTSIDEELEVATIONROBOTANDAGVTRACKS

Scale:1"=1'-0" 3

TRACKEDAGVUNDERCARRIAGE JININGAOWEIMACHINERY,LTD.@

FRONTELEVATIONROBOTANDAGVTRACKS

Scale:1"=1'-0" 2

LEFTSIDEELEVATIONROBOTANDAGVTRACKS

Scale:1"=1'-0" 1

PLANVIEWAGVANDROBOT

Scale:1"=1'-0" 4

KUKAKR150-2330POUNDPAYLOAD REFURBISHED6-AXISROBOT

ClickaparametricnodeandthePythonCodeunderlyingisexposedforediting.In thiscaseaninstructiontorotatetheraingutteraroundthecenter,notoneedge, asitiscreatedinsilico.

C++programtofindIntegralpointsinsideatriangle

//C++programtofindmaximumintegralpoints //suchthatdistancesbetweenanytwoisnot //integer.

#include<bits/stdc++.h> usingnamespacestd; //Makingsetofcoordinatessuchthat //anytwopointsarenon-integraldistanceapart voidprintSet(intx,inty)

//usedtoavoidduplicatesinresult set<pair<int,int>>arr;

for(int=0;<=min(x,y);i++) pair<int,int>pq; pq=make_pair(i,min(x,y) i); arr.insert(pq);

usingnamespacestd;

intmain()

#include<iostream>

#include<cmath>

floata,b,c,x1,x2,discriminant,realPart,imaginaryPart; cout<<"Entercoefficientsa,bandc:"; cin>>a>>b>>c; discriminant=b*b 4*a*c; if(discriminant>0) x1=(-b+sqrt(discriminant)) (2*a); x2=(-b sqrt(discriminant)) (2*a); cout<<"Rootsarerealanddifferent."<<endl; cout<<"x1= <<x1<<endl; cout<<"x2= <<x2<<endl; } else (discriminant==0) cout<<"Rootsarerealandsame."<<endl; x1=-b/(2*a); cout<<"x1=x2="<<x1<<endl; } else realPart=-b/(2*a); imaginaryPart=sqrt(-discriminant)/(2*a); cout<<"Rootsarecomplexanddifferent."<<endl; cout<<"x1= <<realPart<<"+"<<imaginaryPart<<"i"<<endl; cout<<"x2= <<realPart<<"-"<<imaginaryPart<<"i"<<endl; } return0; Output Entercoefficientsa,bandc:4 Rootsarerealanddifferent. x1=-0.25 x2=-1

++itp; //lastpointlinkedtofirstpoint cv::line(src,*(poly.begin()),*(poly.end()-1),cv::Scalar(255,0,0),2); mom=cv::moments(cv::Mat(contours[i])); //drawmasscenter cv::circle(result, //positionofmasscenterconvertedtointeger cv::Point(mom.m10/mom.m00,mom.m01/mom.m00), 2,cv::Scalar(0,0,255),2);//drawblackdot break; default contours[i].clear(); //iterateoverallcontours int=0; for(int=0;<contours.size();i++) if !contours[i].empty()){ //computeallmoments j++;//Attheend shouldbe if(j==3){ cv::drawContours(result,contours,-1,//drawallcontours cv::Scalar(0),//inblack 2);//withathicknessof2 cv::imshow("result",result); } std::cout<<j<<std::endl; return

#include<iostream> usingnamespacestd; intmain() intarr[50],i,elem,pos,tot; cout<<"EntertheSizeforArray:"; cin>>tot; cout<<"Enter"<<tot<<"ArrayElements:"; for(i=0;i<tot;i++) cin>>arr[i]; cout<<"\nEnterElementtoInsert:"; cin>>elem; cout<<"AtWhatPosition?"; cin>>pos; for(i=tot;i>=pos;i--) arr[i]=arr[i-1]; arr[i]=elem; tot++; cout<<"\nTheNewArrayis:\n"; for(i=0;i<tot;i++) cout<<arr[i]<<""; cout<<endl; return0;

RIGHTSIDEELEVATION

3D PRINTING MIX

STEPPERMOTOR Hurst(NidecMotors)

H17ET120434

Mfr.Part#:H17ET120434

AlliedStock#:70030135

6 3/4"

KEVLARRIGIDTUBINGNOZZLEAND ADAPTOR(S)

MOUNTINGPLATETOMATCH KUKAKR150 FROM3/4INCH ALUMINUMSTOCK

TOPVIEW

Scale:3"=1'-0" 1

13/4"IDALUMINUM SLEEVESEPOXYTO KEVLARTUBING LEFTSIDEVIEW 1'-4 3/8" 9"

Scale:3"=1'-0" 4 2 3/4" 1 3/4" 5" 1" 3/8"X1"BARSTOCK

1/2"ALUM.STOCK

FRONTVIEW

Scale:3"=1'-0" 2

SECTIONABOVEBEARINGPLATE1OF2

3DPRINTERW/Y-AXISTRAVELLINGHOTBED 210X210X250mm

3DPRINTERW/Z-AXISTRAVELLINGHOTBED 500x500x600mm

FigureIV-4:HierarchyofControls(Source:NIOSH)

Inordertoprotectworkersinvolvedinroboticindustries,employersshouldimplementasafeguarding strategyasfollows,usingahierarchyofcontrols(FigureIV-4).

Itshouldbenotedthattheterm,"hierarchyofcontrols"isnotusedincurrentrobotsystem/application industrystandards.Insteadofthehierarchyabove,a"3-stepapproach"isusedasoutlinedinFigureIV-5. Withthis3-Stepprocess,thesafeguardingrequirementsareplacedprimarilyonthemachinemanufacturer andtherobotapplicationintegrator(seeDesignerImpactandntegratorImpactinthefigure),andfinallyon theemployer(seeUser,i.e.employer,Impactinthefigure).

WhileadministrativecontrolsandPPEarelistedasleasteffectiveinthetwohierarchyofcontrolsfigures above(FiguresIV-4andIV-5),therecanbesituationswheretheyareeffectiveandbesttouse(e.g.,for thermalhazardsandprotectivegear).TheaboveUser(employer)requirementsincludethetypical requirementsforallmachineryinworkplaces,including:

Organizationalmeasures(e.g.administrativecontrols)

Safeworkingprocedures

Supervision

Permit-to-worksystems

Provisionanduseofadditionaladministrativesafeguards

UseofPPE

Training

FigureIV-5:HierarchyofControls3-StepMethod(Source:RIA)

INDUSTRIALROBOTSYSTEM:MAJORCOMPONENTS (SOURCE:OSHA/NIOSH/RIAALLIANCE)

MATTERPORT3DSCANNING

TYPESOFCAPTURE

HOWITWORKS-USINGSHADOWS

MATHEMATICALSHADOWCOMPARISON

SATELLITEPHOTOGRAMMETRY

Thingstotakecareof:

agoodcamera:a8Mbpixelcamera(ormore)withmanualmodeandEXIFdata available prime"fixed"lens 35mm,50mmand85mm photosize themorepixelsyoucancatch,themoredenseyourpoint-cloudwillbe (butcomputingtimewillincrease).AlwaysshootyourphotosinRAWformatifyour cameracanhandleit.UnlesschoosethebestJPEGresolutionavailable. depthoffield(DOF) youwanttohaveallthepartsoftheobjectyou'recatchingin focus.IncreasingyourF-Stopwillhelptoreduceblur(chooseavaluebetween10 and16). shutterspeed:afastshutterspeedwillreduceanymotionblurfromDOF(1/125or more) ISO anISOvalueof800orlowerwillreducethenoise(grain) objectcovering:thegoalistocapturethewholeobjectwithouthavingtoomany uncoveredparts.Partsthatyouwanttocaptureshouldbeseenatleaston2photos with40to60%overlap.Makesureyourphotosetwillcoverallpartsoftheobject. Sodon'tforgettoalsoshootfromabottomandtoppointofview.Whatwon'tbein thepictureswon'tbeinyourfinalmesh.Shootingmorephotosthanneededis betterthannotshootingenough(especiallyifyoucan'tre-shoottheobjectlaterorif theshootingconditionshavechanged).A10°rotationbetweeneachphotoswitha fixedpointofview(POI)isagoodrule(soatleast36photosforacomplete360° rotation).Youmightneedtoshootupto3ormorerowsdependingontheobject. Thinktwiceaboutyourshootingstrategybeforetoproceed. scalebar:youwilldoabetterreconstructionifyouknowtheobject'sscale. Includingascale-barinyourphotosisstronglyrecommended.Anobjectwithknown dimensionsmayserveasascale.

markers:youmayplaceadditionalphysicalmarkersonthespecimen.Atleast3so thateachisvisiblein2photos.Themarkerswillbeusedtoalignmodelscalculated fromseparatesetsofphotographs(chunks)iftheyarerequiredtocoverthewhole surfaceoftheobject.

Thingstoavoid

inconstantlighting:avoidstrongcontrastinyourphotos.Whenshootingoutdoor youshouldavoiddirectsunlightsoit'salwaysbettertochoseacloudydaywithout stronglightandshadows.Whenshootingindooryoumaywanttousestudiolighting withsoftevenlighting(minimizingshadows)andstrobes(necessarywithfastshutter andhighF-stopparameters).Shootingfacingthesun(orlight)isalsosomethingto avoidasitmayproducelensflareandartifacts.

movingobjectorbackground avoidhavingamovingbackgroundifyoucanasitwill saveyousomeimagemaskingtasks. reflectivesurfaces ifthesubjectisbehindawindowyoumightconsiderusinga polarizingfilter.

movingwhileshooting:evenasmallmovementwhilepushingthetriggerofyour cameramayresultinsomemotionblur.Alwaysuseatripodwheneverit'spossible andaremotetrigger.

panoramicviews movethecamerainrelationtothespecimen(orviceversa)to createparallax.Don'ttakepanoramaphotos(manyphotographsfromonecamera position).

iPHONEPHOTOGRAMMETRY

ILLUMINATIONANGLECOUNTS

MATHEMATICALSHADOWCOMPARISON

Paulson’scurve(1976)

©WhatisIndustry4.0?AGuidetotheFourthIndustrial Revolution

WrittenBy:LeahGourley

It'snearlyimpossibletoresearchtrendsinmanufacturingwithoutencountering Industry4.0.Ithasbecomeaubiquitousterm,andindoingso,canfallvictimto beingoverusedandhollowedoutasabuzzword.Itcanbeusedtodescribethe currentindustrialrevolution,aspecificsetoftechnology,integratedpractices,anda perfect-stategoalformanufacturers.Butwhat,exactly,doesIndustry4.0mean? WhatisIndustry4.0?

ThetermIndustry4.0hasmodestorigins.Itwasfirstcoinedin2011bytheGerman governmenttodescribeamanufacturingdigitizationproject.Itquicklyevolvedto becomeasetofrecommendationsforimplementingtechnology.Ifthetermhad beenleftalonethere,there'sagoodchancewewouldn'tstillbediscussingitin 2020.Butin2016,KlausSchwab,headoftheWorldEconomicForumexplicitly linkedthetermtohispresentationsandwritingsontheFourthIndustrialRevolution. Thetermexpandedbeyondspecificrecommendationsandisnowusedtodescribe amajorrevolutioninmanufacturing.

DefiningIndustry4.0

Inthiscontext,Industry4.0becomeseasiertoquantify.Situatedatthecrossroads ofinformationandoperationaltechnologies,Industry4.0convergespreviously separatephysicalanddigitalsystemsinindustrialmanufacturing.Whyisthis important?Bytearingdownthesebarriers,companiescandramaticallyimprove efficiency,productivity,andagilityinwaysthatwereneverpossiblebefore.To understandthescopeofIndustry4.0'simpact,itishelpfultolookattheprecursors totoday'sFourthIndustrialRevolution.

PuttingtheFourthIndustrialRevolutionintoahistoricalcontext Inthemid-18thcentury,anindustrialrevolutionreplacedmanual,hand-made productionwithearlymechanizationthroughwaterandsteampower.Asecond revolutionintroducedelectricitypavingthewayformassproductionandassembly linesintheearly20thcentury.Inthe1970s,computerizationandautomation unleashedamassivethirdrevolution.AndafewdecadeslatertheFourthIndustrial Revolution,alsoknownasIndustry4.0,hasarrivedtoreshapemanufacturing throughadeepharnessingofdatatoautomate,predict,control,andoptimize operations.Itdoeswarrantnoticingthatthepaceofsubsequentrevolutionshas accelerated.

Industry4.0'seffectonthevaluechain

TobetterunderstandIndustry4.0,andwhyitmatters,itisimportanttolookatthe fullvaluechainfromsupplierstotheendcustomer.Reimaginedserviceand businessmodelspoweredbysmartmanufacturingnowallowcompaniesto streamlineproductionrelationshipsacrossthevaluechainfromsuppliers, producers,andcustomers.Italsousestechnologytocreateunificationbetween people,process,andproducts.Manufacturersandserviceorganizationscanenjoy accesstounprecedentedlevelsofdatamakingiteasiertounderstand,control,and improveeveryaspectoftheiroperation.

MakinganimpactIndustry4.0technologies

Industry4.0ismorethanaspecificusecaseortechnology.Rather,leveraginga groupofcomplementarytechnologiescanjumpstartdigitaltransformationand massivegrowth.Specifically,engineering,manufacturing,andserviceteamsare realizingIndustry4.0practicesthroughthefollowingtechnologies.

1.Standardizedindustrialconnectivitytoharnessdata:Makingdataactionable beginswithbeingabletoliberatedatathat'sbeenhistoricallytrappedwithin equipment,machines,andproducts.Whileneweriterationsarebakingconnectivity intonativemachinefunctionality,manufacturersareembracingwaystointroduce connectivityspecificallystandardizingconnectivityacrosstheirfactoryfloorsand productlines,evenextendingthemtolegacymachinesthatwereneverdesignedto sharedata.

2.IndustrialInternetofThings Formanufacturers,theIIoToffersincredible insightsintotheirproductsandoperationstosecurelyaccess,monitor,analyze,and actontheirdatainnewways.Enterprisescanleveragethisinformationtodrive smarter,fasterbusinessdecisions.

3.Bigdata,analyticsandAItoinformaction:BuildingontheIIoTand connectivity,applyinganalyticsandAItoproductionequipmentandsystemsis becomingtheIndustry4.0.standardtosupportreal-timedecisionmakingas businessesuncoverpatternsandhiddenbarrierstoefficiency.

4.Cloudcomputingtomakedatamoreavailable:Cloud-basedsystemsoffer accesstoremoteservershostedontheinternetwherecompaniescanstore, manage, and process their data and analytics. Cloud computing has beentransformativetonearlyeveryaspectofmodernmanufacturing from enablingscalabilityandefficiency,toreducingoperationalcosts.

5.Automationandroboticstoaccelerateproductivity:Whileautomationisnota newconcept,Industry4.0offerssmarterassets,equippedwithcomputersorrobotic toolsandtheabilitytolearncomplicatedandprecisetasks.

6.Augmentedreality(AR)toempoweremployees: ARoverlaysdigital informationorobjectsontothephysicalworldandhelpsemployeesuse,maintain, andserviceindustrialmachineryandequipment.ARoffersabetterwaytodeliver easilyconsumableworkinstructionstoon-the-jobemployees,boostingworkforce efficiency and safety.

INDUSTRY3.0MACLEAMYvs.INDUSTRY4.0FOULKCONSTRUCTIONOFMACLEAMYCURVE 89%PRE-DELIVERYvs.39%PRE-DELIVERY

Isplastictrashinthemiddleoftheoceanbecominganewkindofislandhabitat?

Giantpatchesofplasticfloatingintheoceanhavebecomehometoanexperimentina newhybridecosystem,madeupofstowawayspeciesfromcoastalenvironmentsand organismsthatdwellinthemiddleofthePacific.Meetthe"neopelagic"world.

ByWarrenCornwall December15,2021

Findingaseaanemonebobbinginthemiddleoftheoceanisabitlikestumblingacrossa rainforest-dwellingkapoktreeperchedonaSaharansanddune.Yet,that'swhathas happenedinrecentyearsaspeoplesailingthePacificOceaninsearchofplastictrash captureentirecommunitiesofcoastalorganismsclingingtodebrishundredsofkilometers fromthenearestbeach.

Thediscoveryofseaanemones,tinyshrimp-likecreaturesandfan-shapedpolypsthat normallydwellneartheshore,seeminglythrivingintheoceanonsmallislandsoftrash,is forcingscientiststorethinkbasicassumptionsaboutwheredifferentspeciescanlive.They haveevenproposedanewnameforthistypeofcommunityneopelagic,or“newopen ocean.”

“Theopenoceanhasnotbeenhabitableforcoastalorganismsuntilnow,”saidGregRuiz, amarineecologistwhoheadstheMarineInvasionsLabattheSmithsonianEnvironmental ResearchCenterandwaspartoftheteamstudyingthephenomenon.“Partlybecauseof habitatlimitationtherewasn'tplasticthereinthepastandpartly,wethought,becauseitwas afooddesert.”

It'slongbeenknownthatshallow-waterandevenlandspeciescancrosspartsofanocean. Scientiststhinksuchvoyageshelpexplainhowislandsweresettledasorganismsdrifted onflotsamcastintothesea.Butthesewerethoughttoberelativelyshorttripsaboard naturalobjectssuchastreesthatwouldeventuallydecay.

The2011tsunamithatstruckJapandeliveredhintsthatsuchjourneysmightstretchfurther andlastlonger.DebrisfromthedisasterwashedashoreinHawaiiandNorthAmericaup tosixyearslater,bearingatotalofnearly300livemarinespeciesnativetotheJapanese coast.Manyofthemmadethetriponplasticormetalobjectssuchasbuoysandpartofa dock.

Thatpromptedresearcherstolaunchamoreorganizedsearchforcoastalcreaturesadriftin theopenseas.Startingin2018,scientistsfundedpartlybyNASAenlistedindividual sailorsaswellastrash-collectingorganizationstocapturesamplesfromtheGreatPacific GarbagePatch,thelargestoffiveknownplacesintheoceanwhereplastictrash concentratesthankstoswirlingoceancurrentsorgyres.ScientistsfromtheSmithsonian centerthenscrutinizedthetrashtoseewhatcrittershadmadethesefloatinghunksof plastictheirhome.

Theresearchersdiscoveredanovelamalgamationofspecies,somethatdwellintheopen oceanandothersfarfromtheirnativecoastalhabitats,accordingtoaDec.2reportinthe journalNatureCommunications.Gooseneckbarnaclesthatnormallyliveonfloatingocean debrissharedspacewithpolypstypicallyfoundonseaweedandrocksneartheshore.

Openoceancrabsscuttledbyanemonestheywouldtypicallyneverencounter.Amixof differentecologicalworldswasfoundonthingsassmallasasingleplasticbottle,aswell aslargetanglesoffishingnets,buoysandotherdebris.Alltold,theyfounddozensof nearshoreorganisms,saidRuiz.

Thediscoveryhasscientistsgrapplingwiththepotentialimplications,aswellasquestions abouthowthesecreaturesaremanagingtosurviveinaplacefardifferentfromtheirnative homes.Muchoftheoceansurfaceisrelativelyfood-poor,withlessofthenutrientsthat fuelplanktongrowth.It'snotcleariftheplasticisactinglikeareefthatattractsmore sourcesoffood,orifithappenstodriftthroughmoreproductivespotsintheocean,said Ruiz

Thediscoveryalsohasscientistswonderinghowthecreationofwhatamountstonew artificialhabitatspanninglargepartsoftheoceanmightscrambleexistingecosystemsand expectationsaboutwherecertainspeciesoccurandhowtheymightinvadeotherplaces. Forinstance,howwillspeciesthatevolvedtoliveintheopenoceanfarewhenthey encounterthesenewcomers?

Existingspeciesthatplytheoceansurfacehaveevolvedavarietyofsurvivalstrategies.

Thevioletseasnailblowsbubblesthatsuspenditupsidedown.Ajellyfish-like creaturefloatstheseaswithatiny“sail”thatcatchesthewind.

“Coastalspeciesaredirectlycompetingwiththeseoceanicrafters,”saidLinseyHaram, leadauthorofthearticleandformerpostdoctoralfellowattheSmithsoniancenter.

“They'recompetingforspace.They'recompetingforresources.Andthoseinteractionsare verypoorlyunderstood.”

Thescientistsarenowworkingonaseriesofpapersexploringthephenomenoninmore detail,includingcataloguingthedifferentspeciesfoundandmodelinghowtheseobjects arelikelytomoveaboutintheocean,collidingwithoneanotherandthensplittingapart again.

Itwilltakefutureexpeditionstoanswerquestionsabouttheecosystemdynamicsofthese places,suchasthecompositionoffoodwebs.Andthat,saidRuiz,willrequireaninfusion ofnewfunding.

Theroomforthesenovel“island”ecosystemsislikelytoonlygrow.By2050,theplastic flowingintotheoceancouldquadruplefromtoday'slevelstomorethan30million metrictonsperyear,accordingtosomeforecasts.That'salotofneopelagichabitat. Haram,et.al.“Emergenceofaneopelagiccommunitythroughtheestablishmentof coastalspeciesonthehighseas.”NatureCommunications,Dec.2.2021.

Image:

SKR1.4CNCDRIVERBOARD

1GALLONEACH INTERNALTANKS

SikaGroutAid ExpandingWater-Reducing RetardingHigh-LiftGroutingAid

BASFMasterX-Seed55 Strength-enhancingadmixture

Sika®Rapid-1 Strength/HardeningAcceleratingAdmixture

SikaGroutAid

Expanding Water-Reducing RetardingHigh-Lift GroutingAid

BASFMaster

X-Seed55

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Sika®Rapid-1

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55GAL.55GAL.55GAL.

SmartContracts:ProsandCons oftheNewShinyThing

IevaGiedrimaiteFriday,March22,2019-#IPKat,blockchain,cryptocurrency,smart contracts

TheIPKathasbrieflywrittenaboutsmartcontractsinthecontextofemerging blockchaintechnologies.Toreiterate,asmartcontractisasoftware-defined contract(licence?)embodiedinacomputeralgorithmthatautomatically self-executesoncetriggeredbyanoccurrenceofacertainevent.Inother words,negotiation,verificationandperformanceareeffectivelyremovedfrom thecontractingprocess.Highlevelparallelsmaybedrawnbetweensmart contractsandshrinkwrapagreements,whicharealsonon-negotiateddeals thatcomeintoeffectwhentriggeredbyacertainevent,namelyuseofa licensedwork.

Nearlytwodecadesago,LawrenceLessig,inhisarticleforHarvard Magazine,consideredcodeactingasaregulator(“CodeisLaw”),where“code, orarchitecture,setsthetermsonwhichlifeincyberspaceisexperienced”.In otherwords,softwarenotonlyaidsintransactiondecision-making,butserves asanenforcerofcertainrulesthereto.“CodeisLaw”hasfounditswayinto digitalrightsmanagementmechanismsandgovernmentalregulatoryschemes, suchasNoFlyListintheU.S.

However,blockchainandmachinelearningtechnologieshavedemonstrated certainlimitationsofregulationbycode,seehereandhere,whichelevates relianceoncodetoawholenewlevel:softwarenotonlyactsasanenforcer, butalsoasaruledrafter(“LawisCode”).Smartcontractsmaybedeemedas anassistivetechnologytoblockchain.Theyarebuiltintoablockchainandhelp toensurethattransactionalapplicationsmaintainlegalconstraintsandyetdo nothinderthefullautomationandbusinessprocessesconstructeduponit. Advocatespraisesmartcontractsfortheirsuperiortransparencyandthe securityassociatedwithblockchaintechnologyitselfandsignificantreductionin transactionscosts,thebiggestofwhichbeinghermajestyTIME.Animportant benefitofsmartcontractsisthereductionoflanguagevaguenessand ambiguity,astheirprovisionsaredraftedinrigidandformallanguagecapable ofbeingunderstoodbyamachine.Applicationsofsmartcontractareseemingly endless,includingescrowservice,property(includingIP)transfers,digitalrights management,supplychainmanagement,andcapitalmarkettrading. However,inherentlegalchallengesarenolessevident.Wediscussthem below.

TechnologicalUtopianism?

Crucialissuesforlawyerstryingtodissectthephenomenonofsmartcontracts restfirstandforemostonenforceability.Whoaretheparties?Howisliability determined?Arewedealingwithcontractlaw,tortlaworsomethingsuigeneris? Smartcontractsmayberegardedaswrittencontractsdraftedinacomputer language,buttheirenforceabilityinaccordancewithcontractlawprinciplesis farfromcertain.Contractlawrestsonthefreewillofatleasttwopartiesto (not)enterintoanagreementtoestablishasetofrulesthatrepresentthewillof theseparties.Furthermore,contractlawincorporatescertainlegalsafeguards thatprotecttheprincipleoffreewill(includingmutualconsent,capacity,undue influence,andmisrepresentation)andmayrenderacontractinvalidor unenforceableifsuchprincipleisviolated.Asmartcontractwillbeenforced regardlessofwhetherornotitqualifiesasavalidcontractunderthelaw. Evensimpletransactionsrequirepartiestofullyunderstandtheirobligationsin ordertobelegallybound.Smartcontractsseemtochipawayatthisbasic premiseofcontractlaw:legalprovisionstransposedintoasmartcontractcarry aninherentguaranteeofexecutionasanticipated,regardlessofthewillofthe parties.Whenthetransactionismorecomplex,involvingmultipleplayers (humansormachines),multi-componentassetsanddiversejurisdictions, computercode“smartness”mayeasilyturnintoplain“dumbness”. ThisKatisnotawareofanycaselawrelatedtoenforcementofsmartcontracts, butoneofthemostnotablesmartcontractfailureshasbeenwidelydiscussed inthecryptocurrencyworld.

DistributedAutonomousOrganization(DAO)is“themostcomplexformofa smartcontract,wherethebylawsofthedecentralizedorganizationare embeddedintothecodeofthesmartcontract,usingcomplextokengovernance rules”.InJune2016,theDOAwith$150millionincrowdfundingwaslaunched ontheEthereumblockchainandwassupposedtocollectinvestormoneyand investitinvariousprojectsmanagedthroughsmartcontracts.TheDOAwas hackedalmostimmediatelyafteritslaunchand$50millioninetherwasdiverted toahacker'spocket.Subsequently,thishackhasbeenrestoredthrough EthereumblockchainforkingForkingseemstoalsoappearinlegal interpretationofliabilityissuesthatmightariseundersuchscenario.

CommoditiesFuturesTradingCommission(CFTC)CommissionerBrian Quintezarguesthatliabilityofthedevelopersofsmartcontractcodeisan “appropriatequestion”andthedeterminationofsuchliabilityshouldbebased ontheabilityofcodedevelopersto“reasonablyforesee,atthetimethey createdthecode,thatitwouldlikelybeusedbyU.S.personsinamanner violativeofCFTCregulations.”AccordingtoQuintez,wherecodewas specificallydesignedtoenabletheprecisetypeofactivityregulatedbythe CFTC,andnoeffortwasmadetoprecludeitsavailabilitytoU.S.persons,a strongcasecouldbemadethatthecodedevelopersaidedandabetted violationsofCFTCregulations.

Othershavesuggestedstretchingtortlawtoaddressliabilityfor“mistakesin coding”,seehereandhereAnevenperhapsmoreradicalsuggestionhas beenproposedbyProf.AngelaWalch,whoanalogisessoftwaredevelopersto fiduciaries,andusersofablockchainto“entrustors”ofthefiduciariesinpublic blockchains.

BuildingInformationManagement(BIM)andBlockchain(BC)forSustainableBuildingDesign

InformationManagementFramework ZhenLiuLijunJiangMohamedOsmaniPeterDemian SchoolofDesign,SouthChinaUniversityofTechnology,Guangzhou510006,China SchoolofArchitecture,BuildingandCivilEngineering,LoughboroughUniversity,LoughboroughLE11

3TT,UK

Abstract Atpresent,sustainabledesignisexperiencingenergyconsumptionandcost-effectivenesschallengesinthe buildingindustry.Arecentbodyofliteraturearguesthatthedevelopmentofemergingsmartdigital technologies,suchasBuildingInformationManagement(BIM)andblockchain(BC),offerimmediate benefitstotheindustry.However,thecurrentapplicationofBIMandBCinthesustainabledesignand constructionprocessfocusesonsmartenergyandconstructionmanagement,withlittleattentionto addressingchallengesforapplyingBIMtosustainabledesignandproposingstrategiesintermsofthe usabilityofthesetechnologiesinthemanagementofbuildingconstructionprojects.Therefore,thispaper setsouttoexplorethepotentialrolesofanintegratedBIMandBCapproachforsustainablebuilding designinformationmanagement.ThefirstattemptispresentedtouseBCaidedBIMforsustainable buildingdesigncoordinationandcollaborationinmultiplebuildingstages.BChasthepotentialtoaddress challengesthathindertheindustryfromusingBIMforsustainabledesign,whichhasbeenunearthed.An innovativeBCenhancedtransactionprocessinBIMisrequiredforsustainablebuildingdevelopment. RolesofauserleveldrivensmartcontractsystemofBCcanbeusedtoenhanceBIMsysteminthe sustainablebuildingsprocess.TheroleofBCisprimarilyatuserleveldrivensmartcontractsandtheir recordvalueexchangecapabilities.Auserlevel(BIMstakeholders)drivenBCtechnologyfortransaction inBIMprocessflowisrevealed,andtheuserlevel(sustainablebuildingdesignprojectstakeholders/BIM clients)drivenandthesmartcontractenabledBIM+BCarchitecturetoaddresschallengesofBIMfor sustainabledesignhasbeenfurthercirculatedaccordingtotheliterature.Subsequently, conceptual architectureofBIM+BCforSustainableBuildingDesignInformationManagementFrameworkin buildingprojectmanagementhasbeenproposed,validated,andrefined.TheFrameworkhastwolevel encompassingstructuresandflow.Thehigh-levelframeworkisfocusedonstrategy,whilstthelow-level frameworkdemonstratestechnicalcomponentsindetail.Thisarchitecturesupportingprojectstakeholders inmanaginginformation,hasthepotentialtoachieveandensuretherealizationofsustainabledesigngoals throughtheinteractiverealizationofsmartcontractsintegratedintotheuserleveldrivenBIM+BC systemanditsrecordingvalueexchangefunctionthroughthreeuser-drivenlevels,namelyuser,system, andtransaction.

1.Introduction

Sustainablebuildingdesignisnolongeranemergingtopic.Theunderstandingofarchitecturedesignin theconstructionindustryhasexpandedfromtherelationshipbetweenbuildinganduser'toa comprehensivereflectiononthemacroscopicsystemofnaturalenvironment,buildingandpeople'1].The meaningofbuildingenvironmentalsustainabilityfarexceedsthelevelofbuildingenergyefficiencyand costperformance.Usersarethecoreofarchitecturedesign,andtheintegrationofarchitecturedesignand usersbecomesthefoundationofthefutureofsustainabledevelopment2].Sustainabledesignrespectsthe environmentandclimatecharacteristicsofthesiteandpursuesthehealthofthephysicalenvironmentand microclimate,suchaswind,light,heat,sound,andwater,seekingtheinteractionofenvironment,building anduser.Theroleofusersisstrictlyconnectedtoenvironmentalcomfortandenergysavings,which meansthatthedesignofbuildingsrequirestotakeintoaccounttheroleofusersinsustainablebuilding design[].Byfocusingonthebuilding,thecombinationoffunctionaldiversityandindividuality,reducing theneedforresourcesandmaterialexchangebetweenbuildingsandtheenvironment,sustainable developmentcanbepromoted. Withthedevelopmentofdigitaltechnologies,suchasBuildingInformationManagement(BIM),and smartdigitaltechnology,e.g.,blockchain,ArtificialIntelligence(AI)andbigdata,theindustrial digitizationeraisgraduallyapproaching.Thedigitalage,suchasindustry4.0,isconstantlyupdating users'cognitionandlifestyles,andatthesametimebringingaboutmoreefficientworkingmethods. Digitaltechnologycannotonlyimprovepeople'senvironmentalrequirementsfortheliving,butalso enhancethequalityofthedesign.Thisismainlybecausedigitaltechnologycanscientificallysurveyand predictnaturalandhumanconditionsintheareawherethebuildingislocated,therebyenhancingpeople's livingrequirements[4]. Fromthewholebuildingdesignprocess,theapplicationofdigitaltechnologyinthefieldofbuilding designmainlyhasthefollowingfouraspects5]:

? ConceptualAnalysisofConceptualDesign.TheComputerAidedDesign(CAD)designsoftware aidsthedesigner'sideastobeconvertedintodigitalmodelsforpresentingdesignconceptandasan authoringtoolinBIM.

? OptimizationAnalysisofSchemeDesign.Thedesignsoftwareisusedtoanalyzeandpredictthe designindicators,attributesandfunctionsthatcanbecollectedandquantifiedintheschemedesign,soas tofeedback,modifyandoptimizetheSchemeDesign.

? TechnicalAnalysisofStandardizedDesign.DesignerscanusetheprovidedCADbuilding standardlibrarytoenhancedesignoutputs.

? FeasibilityAnalysisofProjectBidding.Theuseofcomputerdatainformationprocessing capabilitiesfortextandimageprocessingofdocuments,canrealizetheanalysisandpredictionofthe feasibilityandrationalityofbuildingprojectbidding. Forthetimebeing,thefulldigitalizationoftheconstructionindustryisstillinitsinfancy.However,with theadventoftechnologiessuchasBIM+smartdigitaltechnology,allparticipants,elementsandwhole processmanagementofbuildingdesignandconstructioncancooperatewitheachotheronacommon platform.Intheoriginalfragmentedconstructionindustry,itsproduction,businessandmanagementlevels canalsobeeffectivelyintegrated,projectdataandmanagementinformationarealsointerconnected,and theeraofsustainablebuildingdesignandconstructionundertheBIM+smartdigitaltechnologywillalso come.

2.Background

2.1.BuildingInformationManagement(BIM)forSustainableDesign Insustainablebuildingdesign,BIMisatechnologythatusesa3Dmodeltobuildasetofprojectdatabase, throughtheretrievalandapplicationofinformation,toachieveasustainablegoaloverthewholelifecycle oftheproject6].

2.1.1.UserLevelDrivenBIMforSustainableDesign WiththeintroductionofBIMtechnology,theuserlevelkeyplayers,suchasarchitects,structuraland buildingserviceengineers,andotherdisciplinedesigners,eventheclient,canusethesameBIMmodelfor sustainablebuildingdesignandplanning.Themodelservesasasingleversionofthetruth'.Inaddition, differentuserscanviewthebuildinginformationthrough3Dvisualization.Inadditiontothesize, location,relativespatialrelationshipandotherinformation,themodelcanserveas centralindex,which linkstofurtherinformationofmaterial,quantityandcosttoachievegoalsofsustainablebuildingdesign

67],TheuserleveldrivenBIMforsustainabledesigninformationmanagementisillustratedinFigure1

2.1.2.BIMAdvantagesforSustainableBuildingDesign

TheadvantagesofBIMforsustainablebuildingdesignhavebeenresearched,andinclude:

? Three-Dimensional(3D)ModelVisualizationbyclearlyconveyingthedesignconcept through3Dmodelvisualization,designerscanreducecommunicationinadequaciesamongthe designteam,andimprovethedesignquality.

? ModelTransitionandCollaboration.Alltheinformationinthe3DModelcanbedirectly transmittedandcollaborativelyusedwithoutinputtingrepeateddata,whichcanreducehuman errorsandimproveworkefficiency.

? 3DModelSimulationandClashDetection.Theuseof3DBIMsimulationandclash detectioncapabilitiesenabletheprojectteamtoverifythedesign,reducetheriskofengineering application,eliminateunnecessarytimeandmaterialwaste,andreducecosts.

? DesignInformationforBuildingLifeCycle.Designinformationacrossthebuildinglife cyclestagescanbeusedforconstructionandoperation,evenforfuturefacilitymanagementto minimizewaste.

? SmartDigitalTechnologyEnhancedBIM.BIM+smartdigitaltechnologywill revolutionizeengineeringsimulationanddesign.Inthefuture,BIM+smartdigitaltechnology willspeedupthedevelopmentcycleofbuildingdesignproductsandservices,fromafewdaysin thepasttoafewmonthsnow.Atthesametime,thetechnologyprovides modeofrapid innovationdesignintheprocessofproductandservicecharacteristics,performanceandcost, thusendowingsustainabledesignwithnewways.

2.1.3.ThePotentialChallengesforBIMImplementationinSustainableDesign TherearepotentialchallengesforBIMimplementationinsustainablebuildingdesignintermsof legalbarriersandmodelownership:

? BIMImplementationRisks.TheBIMimplementationincludesaseriesofrisks, includingtechnical,management,environmental,financialandlegalrisks9].

? IntellectualPropertyandCyberSecurity.Intellectualpropertyandcybersecurityresults ofBIMtools[1011].

? ReuseandAdoptionStrategiesforBIMModels.Developmentofcomprehensiveand clearreuseandadoptionstrategiesforBIMmodels9].

? LevelofResponsibility.BIM'sintegrationconceptblursthelevelofresponsibility betweendifferentprojectteammembers12],andtrustincollaboration[13].

? BIMContract.AnewformofcontractforBIMtosustainablebuildingdesign implementationconcerningBIMresponsibilities,limitationsandliabilities[12].

2.1.4.TheBlockchainPotentialRoleforBIM BIMaimedatsustainablebuildingdesignisbasedontheinformationlife,intelligentmethodsand processesoftheconstructionprojectlifecycle.Inshort,itistheintelligenceofdesignprocess information.TheessenceofBIMistheapplicationofdatamining.Combinedwiththeapplicationand developmentofintelligenttechnologiessuchasblockchain,BIMcanbetterintegratedataandresources andestablishclearresponsibilitiesandcontractualrelationships[131415].Therefore,blockchain enhancedBIMimplementationcouldassisttoaddresstheabove-mentionedchallengesinsustainable buildingdesignformanaginginformationoftheproject,whichisthefocusofthispaper.

2.2.Blockchain Blockchainis seriesofdatablocksgeneratedbycryptography16].Itisanewapplicationmodeof computertechnologysuchasdistributeddatastorage,point-to-pointtransmission,consensusmechanism, andencryptionalgorithm.Thekeyinnovationofblockchaintechnologyisthatitallowsitsparticipants totransferassetsovertheinternetwithoutcentralizedthirdparties.

2.2.2.ImplementationConditionsofBlockchainTechnology Blockchainisnot one-stopsolutiontoalltheproblemsthatariseindataandassettransactions.Inthe followingfiveblockchainstandards,onlythreeormoreofthemaremet,theprojectcanbeconsideredto needblockchaintechnology:

? Multi-partyDataUpdateRequirement.Thereisamulti-partydataupdaterequirementwhere operationsperformedbymultipleparticipantsneedtobelogged.

? ValidationRequirement.Thereisavalidationrequirement,whenitisnecessarytobuildtrust betweenthepartiesandmakethemunderstandthattheiractionsaredocumented.

? IntermediaryRequirementoftheProject.Theprojectrequiresoneormoreintermediaries, whichaddscostandcomplexity.

? Time-limitedofTransaction.Thetransactionistime-limited,thatis,thetimedelaywillaffect thebusiness.

? InteractionRequirementofTransaction.Transactionsrequireinteraction,thatis,projectsare createdbytheinteractionofmultipleparticipantsanddependontheirinteractions. Asthesustainablebuildingdesignandconstructionprojectinvolvesanumberofprojectstakeholders, projecttimeandcost,assuchtheblockchaintechnologycanbeimplementedfortheproject.

2.2.3.TheBlockchainPotentialtoOvercomeBIMAdoptionChallenges

Atpresent,themainapplicationsofblockchainintheprocessofsustainablebuildingdesignand constructionprojectsfocuson:BIMworkflow,thefuturelifeframeworkdrivenbynetwor],building constructionmanagement,constructionmaterialallocationpolicies,greeningsupplychains,digitalbuilt InternetofThings(IoT)ecosystem25],andsmartenergysystems,suchasdigitalintelligenttransition ofurbanenergysystems[26],up-scalingenergycontrolfrombuildingtodistricts27],urbanenergy systemsandthetransitiontozerocarbon28].Thereareafewestablishedrolesfortheuseofblockchain toovercomeBIMadoptionchallengesforsustainablebuildingdesigninformationmanagementisabsent intheliterature.Therefore,thispapersetouttoexplorethepotentialrolesofblockchaininBIMfor sustainablebuildingdesigninformationmanagement.

Oneofthemostimportantrolesofblockchainisthesmartcontractapproach.Asmartcontractisa computerprogramthatappliestotheif/thenprinciple32].Forexample,aninspectionisrequiredifthe architectorstructuralengineerdesignawallusingBIM.Ifthepersonresponsiblefortheinspection agreesthatitmeetsanacceptablequality,thenthearchitectorstructuralengineerwillgetpaid.Inthe caseofblockchain,whichcanbemortgagedincryptocurrency,smartcontractscanbeusedinthiscase. Itissafebecausecryptographyisusedintheblockchaintostoretransactionsinblocksofdatathatare replicatedacrossmultipleservers/computersaroundtheworld.Thisuserlevel(BIMstakeholders)driven blockchaintechnologyfortransactioninBIMprocessflowisshownin,inwhichthebuildingdesign elements/issuesforthetransactiontoBIMstakeholdersareviatheinteractionsamongtheBIM stakeholders,blockchainprocessorfacilitatedbycryptographyofsmartcontract,andBIM/Smartobjects databaseenhancedbyBIMdocumentation/specificationthatisenabledbycryptocurrencyofthe cryptography.CombiningBIMwithblockchaintechnologycanalsofacilitatetheuseofsmartcontracts, acomputerizedtradingprotocoldesignedtoenforceprojectterms,replacingmutualtrustinthird-party intermediaries'.

SmartContractenabledBIMtoaddressthepotentialchallengesofBIMforsustainabledesign.Through theentiredesign-leadconstructionphase,usingsmartcontractstonegotiateeditingpermissionsand storeimmutablecommonmodificationrecords,theblockchaincanserveasausefultoolformanaging anddocumentingchangestoBIMmodels.AsshowninFigure4thesmartcontractenabledBIM+ blockchainperfectlysolvesfourofthepotentialchallengesofBIMforsustainabledesignmentionedin theprevioussection:technical,management,environmental,financialandlegalrisks;intellectual propertyandcybersecurity;levelofresponsibilitybetweendifferentprojectteammembers;andanew formofcontractconcerningBIMresponsibilities,limitationsandliabilities.Thesmartcontractenabled BIM+blockchainprocessflowtoaddressthepotentialchallengesofBIMforsustainabledesign,is structuredinatop-downflowthatisdrivenbysustainablebuildingdesignprojectstakeholders/BIM clients,suchasclient,architect,buildingstructuraldesigner,buildingservicedesignerandother professionals,andthroughtheprocessofblockchainfortransactioninBIMFigure3). RecordValueExchangeFunctionoftheSmartContract.Inaddition,therecordvalueexchangefunction ofthesmartcontract[33],throughthesustainabilityinformationofthematerialssetintheBIMtool duringthedesignphase,canhelptoverifythesustainabilityofthematerialsusedbythecontractor duringtheconstructionphase,therebysolvingthedevelopmentofcomprehensiveandclearreuseand adoptionstrategiesforBIMmodels,whichisoneofthepotentialchallengesofapplyingBIMto sustainabledesign.Basedontheuserlevel(sustainablebuildingdesignprojectstakeholders/BIMclients) drivenandthesmartcontractenabledBIM+blockchainarchitecturetoaddressfourofthepotential challengesofBIMforsustainabledesign(Figure4),theArchitectureisfurtherdeveloped,asshown inFigure5toassistReuseandAdoptionStrategiesforBIMModelsthatisanotherchallengeofBIMfor sustainabledesign.TherecordvalueexchangefunctionhasbeenaddedintheupdatedArchitecture, whichenabledsustainability,suchasmaterial,withinBIMdocumentation/specificationandbuilding objectsofBIM/Smartobjectsdatabasethatisassociatedwithsustainabledesignininformation managementacrossprojectlifecyclestages.Assuch,thesustainablebuildingdesignmaterialissuefor transactionscanbecreatedbyacontractorwithothersustainablebuildingdesignproject stakeholders/BIMclientsacrossprojectlifecyclestages,suchasbriefinganddesign,procurement, construction,andpost-construction.Specifically,theabilitytoreducecostsmaybethegreatestpossible benefitofintegratingblockchainforsustainabledesign,withoutaffectinglaborpracticesorpurchasing materialsfromunscrupuloussuppliers.

Therefore,therefinedBIM+BCforSustainableBuildingDesignInformationManagementhastwo levelsencompassingstructureandflow,ofwhichthehigh-levelframeworkisfocusedonstrategywhilst thelow-levelframeworkdemonstratestechnicalcomponentsindetail.

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As the climate crisis worsens, there is an increasingly urgent need to not only make significant changes to our societies and economies but to innovate and create new solutions to curb emissions such as carbon dioxide (CO2). That’s exactly what GE is seeking to do in a new DOE-backed research project—called AIR2CO2 Contactor—in partnership with UC Berkeley and the University of South Alabama. Together, the partners are using 3D printing to develop a system for capturing CO2 from the air.

To span two years, the AIR2CO2 research project is being led by a team from GE Research as well as chemists and engineers from the two partner universities. The U.S. Department of Energy has put up $1.5 million for the project, while GE and its partners are providing $500,000 for a total of $2 million. The aim of the project is to develop a technology capable of capturing CO2 emissions directly from the air using a combination of heat exchanger technology and sorbent materials.

Interestingly, the team is also working on a research project that will use a similar technology to extract water from the air to provide potable water for soldiers and troops in the field. This project, called AIR2WATER, is being undertaken in collaboration with the Defense Advanced Research Projects Agency (DARPA) and also relies on a combination of heat exchange and advanced materials.

“We’re combining GE’s extensive knowledge in materials, thermal management and 3D printing technologies with UC Berkeley’s world-class expertise in sorbent materials development and the University of South Alabama’s and sorption modeling and testing to design a novel system for removing carbon dioxide from the air,” explained David Moore, the Principal Investigator and Technology Manager for Material Physics and Chemistry at GE Research. “Through this project, we’re aiming to demonstrate the feasibility of a system that could become a future large-scale, economical solution for widespread decarbonization of the energy sector.”

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Only to be hacked by a host of hackers lurking in the shadows all too ready to quickly and easily decipher, decrypt, or decode your algorithmically and/or logarithmicallyencryptedcontent.

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WE AIM TO INNOVATE —NOT REPLICATE— THE STATUS QUO.

1

Stepper Motor Driver vs. Servo Motor Driver

Tue, Mar 08 by ATO.com

A stepper motor is an actuator that converts electrical pulses into angular displacement. When the stepper driver receives a pulse signal, it drives the stepper motor to rotate a fixed angle in the set direction, and its rotation runs step by step at a fixed angle. The angular displacement can be controlled by controlling the number of issued pulses, so as to achieve the purpose of controlling the displacement. At the same time, the speed and acceleration of the motor rotation can be controlled by controlling the pulse frequency, so as to achieve the purpose of speed regulation. The rotor inside the servo motor is a permanent magnet. The U/V/W three-phase electricity controlled by the driver forms an electromagnetic field.

The rotor rotates under the action of this magnetic field. At the same time, the encoder that comes with the motor feeds back the signal to the driver. The target value is compared and the angle of rotor rotation is adjusted. The accuracy of the servo motor is determined by the resolution of the encoder. So what are the differences between stepper motor driver and servo motor driver?

Different working principle

Stepper motor driver: It is an electronic product that can send out uniform pulse signals. After the signal it sends enters the stepper motor driver, it will be converted by the driver into a strong current signal required by the stepper motor to drive the stepper motor to run. The stepper motor controller can accurately control the stepper motor to rotate through every angle. What the driver receives is a pulse signal. Every time a pulse is received, the driver will give a pulse to the motor to make the motor rotate at a fixed angle. Because of this feature, stepper motors are widely used in various industries.

Servo drive: It is a controller used to control servo motors. Its function is similar to that of frequency converters acting on ordinary AC motors. The servo motor driver is part of the servo system and is mainly used in high-precision positioning systems. Generally, the servo motor is controlled by three methods of position, speed and torque to achieve high-precision positioning of the transmission system. It is currently a high-end product of transmission technology.

Different circuit composition

Circuit composition of stepper motor driver

1.Motor drive circuit: The stepper motor drive circuit is designed on the basis of the H bridge circuit. The use of discrete component MOS tubes to build a dual H-bridge drive circuit is a mature motor control solution. The circuit is not complicated. According to the different operating currents of the MOS tubes, the upper limit of the current can even be as high as tens of amperes. It is an ideal stepper motor driver solution.

2.Motor parameter measurement circuit: The motor current sampling resistor is a constantan resistor, one end is connected to the bottom of the H Bridge, and the other end is connected to GND. The voltage and current signal conditioning circuit is built with LM324 operational amplifier. After the voltage is followed, it is sent to the MCU, and the MCU has a built-in 10Bit A/D converter for A/D sampling. The chassis temperature monitoring uses the digital temperature chip DS18B20, which is attached to the surface of the motor shell to monitor the temperature parameters in real time and send them to the MCU.

3.Power supply and MCU control circuit: The drive circuit in the system is powered by the input voltage. The MCU and the Bluetooth module need an additional 3.3V voltage power supply. The traditional linear regulator has low efficiency, large size and serious heat generation. Therefore, a DC-DC power supply is used to provide 3.3V voltage to ensure the normal operation of the device.

Circuit composition of servo motor driver

1.Motor rectifier circuit: The main topology circuit of the rectifier unit is a three-phase full-bridge uncontrolled rectifier circuit, which is essentially a series of three-phase half-wave controllable rectifier circuits with a set of common cathodes and a set of common anodes. It is customary to connect the cathodes together. The three inter-thyristors are called a common cathode group; the three thyristors whose anodes are connected together are called a common anode group.

2.Power drive circuit: The power drive unit generally adopts an intelligent power module, which rectifies the input three-phase power or mains power through a three-phase full-bridge rectifier circuit to obtain the corresponding DC. The power unit is a highvoltage inverter component that uses power electronic devices for rectification, filtering, and inversion. It is mainly composed of rectifier bridges, thyristors, electrolytic capacitors, and IGBTs. The whole process of the power drive unit can be simply said to be the process of AC-DC-AC.

3.Motor control circuit: The main circuit uses a digital signal processor as the control core, which can implement more complex control algorithms and perform intelligent control.

What is the Turing Test in Artificial Intelligence?

The basis of the Turing Test is that the Artificial Intelligence entity should be able to hold a conversation with a human agent. The human agent ideally should not able to conclude that they are talking to an Artificial Intelligence. To achieve these ends, the AI needs to possess these qualities:

Natural Language Processing to communicate successfully.

Knowledge Representation to act as its memory.

Automated Reasoning to use the stored information to answer questions and draw new conclusions.

Machine Learning to detect patterns and adapt to new circumstances.

Cognitive Modelling Approach

As the name suggests, this approach tries to build an Artificial Intelligence model-based on Human Cognition. To distill the essence of the human mind, there are 3 approaches:

Introspection: observing our thoughts, and building a model based on that

Psychological Experiments: conducting experiments on humans and observing their behavior

Brain Imaging: Using MRI to observe how the brain functions in different scenarios and replicating that through code.

The Laws of Thought Approach

The Laws of Thought are a large list of logical statements that govern the operation of our mind. The same laws can be codified and applied to artificial intelligence algorithms. The issues with this approach, because solving a problem in principle (strictly according to the laws of thought) and solving them in practice can be quite different, requiring contextual nuances to apply. Also, there are some actions that we take without being 100% certain of an outcome that an algorithm might not be able to replicate if there are too many parameters.

The Rational Agent Approach

A rational agent acts to achieve the best possible outcome in its present circumstances. According to the Laws of Thought approach, an entity must behave according to the logical statements. But there are some instances, where there is no logical right thing to do, with multiple outcomes involving different outcomes and corresponding compromises. The rational agent approach tries to make the best possible choice in the current circumstances. It means that it’s a much more dynamic and adaptable agent.

Now that we understand how Artificial Intelligence can be designed to act like a human, let’s take a look at how these systems are built.

PYTHON NAVIGATION SCRIPT

What is PLA?

PLA, or polylactic acid, is produced from any fermentable sugar. Most PLA is made from corn because corn is one of the cheapest and most available sugars globally. However, sugarcane, tapioca root, cassava, and sugar beet pulp are other options.

Like most things chemistry-related, the process of creating PLA from corn is quite complicated. However, it can be explained in a few straightforward steps.

How are PLA products made?

The basic steps to create polylactic acid from corn are as follows:

1.First corn starch must be converted into sugar through a mechanical process called wet milling. Wet milling separates the starch from the kernels. Acid or enzymes are added once these components are separated. Then, they’re heated to convert the starch into dextrose (aka sugar).

2.Next, the dextrose is fermented. One of the most common fermentation methods involves adding Lactobacillus bacteria to the dextrose. This, in turn, creates lactic acid.

3.The lactic acid is then converted into lactide, a ring-form dimer of lactic acid. These lactide molecules bond together to create polymers.

4.The result of the polymerization is small pieces of raw material polylactic acid plastic which can be converted into an array of PLA plastic products.

What are the benefits of PLA products?

PLA requires 65% less energy to produce than traditional, petroleum-based plastics. It also emits 68% fewer greenhouse gases. And that’s not all:

The environmental benefits:

• Comparable to PET plastics – More than 95% of the world’s plastics are created from natural gas or crude oil. Fossil fuel-based plastics are not only hazardous; they’re also a finite resource. PLA products present a functional, renewable, and comparable replacement.

• Bio-based – A bio-based product’s materials are derived from renewable agriculture or plants. Because all PLA products come from sugar starches, polylactic acid is considered bio-based.

•Biodegradable – PLA products achieve international standards for biodegradation, naturally degrading rather than piling up in landfills. It does require certain conditions to degrade quickly. In an industrial composting facility, it can break down in 45–90 days.

•Doesn’t emit toxic fumes – Unlike other plastics, bioplastics don’t emit any toxic fumes when they’re incinerated.

•Thermoplastic – PLA is a thermoplastic, so it’s moldable and malleable when heated to its melting temperature. It can be solidified and injection-molded into various forms making it a terrific option for food packaging and 3D printing.

•FDA-approved – Polylactic acid is approved by the FDA as a Generally Recognized as Safe (GRAS) polymer and is safe for food contact.

Opihi.IO PRINTER PARTS ARE 3D PRINTED FROM COMBINATIONS OF BIODEGRADABLE PLASTICS OR ATMOSPHERIC CARBON CAPTURED CARBON FIBER ANDRECYCLEDOCEANTRASH