Design of Industrial Robots

Abstraction Today, industrial automaton is used in assorted intents such as welding, picture, choice and topographic point, production review, and proving. Because of its popular, industrial automaton has become interesting field, many companies, research centres and scientists spend much of money, clip to better features of industrial automaton. Simulation is a cardinal competency for both robot makers, users and scientists to better automaton public presentation, safety and cut down automaton cost, power, clip. In this thesis, brief kinematics, kineticss and control theory are mentioned ; equations from these theories are applied for R-R and R-R-R operator, so these consequences are compared with simulation consequences to verify simulation consequences. In add-on, a simple existent theoretical account is built with 2 dynamixel servo motors ; the existent theoretical account can make simple work such as traveling point to indicate, following consecutive line. The simulations of automaton operator are performed by Recurdyn-Colink and Recurdyn-Matlab/Simulink. Forward and reverse kinematics are used to simulation automaton operator to execute progress trajectory way, the consequences from these simulations are used in kineticss subdivision. PD feedforward control besides is indicated, the control system based on independent articulation control, which frequently is known as single-input/ single-output system. These consequences from simulation are tantamount with theory. These consequences besides provide a batch of utile information for a batch of intents such as layout rating to avoid obstruction, optimisation flight way, kinematics, kineticss study. Keywords: automaton operator, kinematics, kineticss, feedforward control. 1 IntroductionMotivation and history of industrial automatonToday, we can run into industrial automaton in many mills in the universe. Applications of industrial automatons include welding, picture, choice and topographic point ( packing or SMT line ) , production review, and proving. Harmonizing to the International Federation of Robotics ( IFR ) , by the terminal of 2011, there were at least 1,153,000 operational industrial automatons. And IFR estimated the world-wide gross revenues of industrial automatons about US $ 8.5 billion. If cost of package, peripherals and systems technology are included, the industrial automaton market was estimated US $ 25.5 billion in 2011. Therefore, industrial automaton has been become an interesting field. Along with development of industrial automaton, simulation and theoretical account of industrial automatons are of import. They can supply a batch of utile information for many intents such as layout rating, kinematic, dynamic survey, off-line sched uling to avoid obstruction in the undertaking infinite and design mechanical construction of automatons. The history of industrial automaton has associated with the development of computing machine aided design ( CAD ) and computing machine aided fabrication ( CAM ) systems. In 1954, George Devol applied for the first robotics patents ( granted in 1961 ) . In 1956, Devol and Joseph F. Engelberger formed the world’s foremost robot company was Unimation which was based on Devol’s original patents and Engelberger has been called as the male parent of robotics. Unimation has been built with hydraulic actuators and programmed in joint co-ordinates. The angle of each articulation was stored during a teaching stage and replayed in operation. In the 70s the automaton industry increased really rapidly because of the tremendous investings by the automotive industry. In Europe, ABB Robotics and KUKA Robotics brought automatons to the market in 1973. ABB Robotics introduced IRB 6, it was become the first commercially operator which controlled all electric by micro-processor in the universe. The first two IRB 6 automatons were installed in production for crunching and smoothing pipe decompression sicknesss in 1974. In 1973 KUKA Robotics built its first automaton, FAMULUS, besides one of the first articulated automatons have driven six electromechanically axes. In US, many US companies entered the field, including elephantine companies such as General Electric, and General Motors ( a joint venture formed by General Motors and FANUC LTD of Japan called FANUC Robotics ) . Other companies besides started robotics concern such as Automatix and Adept Technology, Inc. In 1984, Unimation was acquired by Westinghouse Electric Corporati on for 107 million U.S. dollars. After that Westinghouse sold Unimation to Staubli Faverges SCA of France in 1988, which is still doing articulated automatons for general industrial and cleanroom applications and even bought the robotic division of Bosch in late 2004.Hardware and SoftwareDuring this thesis, three package ( RecurDyn, SolidWorks, Matlab ) have been used to work out this thesis assignment. Dynamixel servo motor besides was used for experimental intents.RecurDyn V8R2RecurDyn is developed by FunctionBay, Inc. which is a professional CAE company and provides MultiBody Dynamics ( MBD ) . RecurA ­Dyn is a modern CAE package suite which offers the alone combination of Multibody Dynamics, Finite Element Analysis and Controls. Dynamic Rigid and Flexible Body Analysis to the full integrated additive and nonlinear Finite Element Analysis supply item information of realistic theoretical accounts for design surveies and bettering merchandise public presentation. By utilizing FE mesh, RecurDyn can imitate overall gesture every bit good as local distortions, strains and emphasiss. RecurDyn CoLink, an incorporate signal flow oriented control design tool. It provides off-line simulation of mechatronic systems, traveling far beyond the classical Co-Simulation attack. If a elaborate Recurdyn multi flexible organic structure dynamic works theoretical account is used, the user can cut down the figure of cringles during the practical accountant parametric quantity optimisation procedure. In add-on, RecurDyn besides can link with Matlab/Simulink which has a batch of block libraries, plan linguistic communication tool, etc. for dynamic system. Last but non least, RecurDyn has supported a batch of CAD package which are used as the Parasolid Kernel plan.SolidWorksSolidWorks is really popular 3D mechanical computing machine aided design package which runs on Microsoft Windows. It is established by Dassault Systemes SolidWorks Corp. It used Parasolid Kernel attack to make theoretical accounts and assemblies. Presently, over 2 million applied scientists and interior decorator usage SolidWorks at more than 165000 companies in whole universe.MatlabMATLAB is a numerical computer science environment and fourth-generation scheduling linguistic communication including C, C++ , Java, and FORTRAN. Established and developed by MathWorks, MATLAB is good known for matrix uses, plotting of maps and informations, creative activity of user interfaces, and interfacing with plans written in other linguistic communications. In add-on, Simulink is an add-on merchandise with block libraries, informations flow graphical plan linguistic communication tool for mold, simulation, and analysing multi-domain dynamic and embedded systems.DynamixelDYNAMIXEL is a consecutive high public presentation networked actuators for automatons developed by ROBOTIS. DYNAMIXEL can be used for multi-joint robot systems such as robotic weaponries, robotic manus, bi-pedal automaton, hexapod automaton, snake automaton, kinematic art, animatronics and mechanization, etc†¦ DYNAMIXEL can be controlled utilizing Personal computer through USB2Dynamixel by many package such as Matlab, python, Microsoft Visual Studio ( C++ , C # ) , Visual Basic, Java, LabVIEW, occultation, ROS ( TTL/RS485/RS232 communicating ) . DYNAMIXEL besides can be controlled utilizing sole accountant such as CM-5 ( ATMega128 ) , CM-700 ( ATMega2561 ) , CM-510 ( ATMega2561 ) , CM-530 ( ARM Cortex M3 ) . Fig1. Dynamixel servo motorOutlinepartChapter 2. Background theory 2.1 Positions, Orientations, and Frames 2.1.1 Position In a co-ordinate system, any point can place with a 3Ãâ€"1 place vector in the existence. The place of point P in co-ordinate system is ordered set of three Numberss. Fig2. Vector comparative to border { A } 2.1.2 Orientation 2.1.2 Frames In robotics, the state of affairs of a place and an orientation brace arises so frequently is called a frame, which is a set of four vectors including one vector describes place and 3 vectors describe orientation. The base frame, { B } The base frame has place at the base of the automaton operator. It is appended to a unmoving portion of the automaton and frequently called link 0. Fig3. The criterion frame The station frame, { S } The station frame has location in a task-relevant, in the figure above, it is at the corner of a tabular array which the automaton is to work, and all motions of the operator are implemented comparative to it. Sometimes, it is besides called as the existence frame, universe frame or the undertaking frame. The carpus frame, { W } The carpus frame { W } is fastened to the last nexus of the operator. { W } frequently has its beginning fixed at a point called the carpus of the operator, and { W } will travel with the last nexus of the operator. The tool frame, { T } The tool frame { T } is appended to the terminal of any tool the automaton happens to be keeping. { T } is normally located with its beginning between the fingertips of the automaton when the manus is empty. The end frame, { G } The end frame has location to which the automaton is to travel the tool. At the terminal of the gesture, the tool frame should be brought to happenstance with the end frame. Chapter 3 Operator Kinematicss Kinematicss is the scientific discipline of gesture including the place, the speed, the acceleration, and all higher order derived functions of the place variables. This chapter has 4th subdivisions: the Denavit-Hartenberg ( D-H ) parametric quantities, the forward kinematics, the opposite kinematics, the Jacobian. 3.1 Denavit-Hartenberg Any robot operator can be described kinematically by the values of four measures for each nexus. Two describe the nexus itself, and two describe the link’s connexion to a adjacent nexus. The definition of mechanisms by 4th measures is a convention normally called the Denavit-Hartenberg notation. Fig4. Description of D-H parametric quantities aI= the distance from ZIto Zi+1measured along TenI = the angle from ZIto Zi+1measured about TenI vitamin DI= the distance from Teni-1to XImeasured along ZI = the angle from Teni-1to XImeasured about ZI 3.2 Forward Kinematicss Forward kinematics is used to calculate the place and orientation of the tool frame from joint parametric quantities. The transmutation from frame { one } to border { i-1 } ( 3.1 ) The nexus transmutations is multiplied together to happen the individual transmutation that relates frame { N } to border { 0 } ( 3.2 ) 3.2.1 R-R operator forward kinematics Lengths of two links are L1 and L2. Fig5. R-R nexus frame assignmentLinkIaIvitamin DII1000120Liter102Table1. D-H parametric quantities of R-R operator Computational transmutation matrices of each nexus ( 3.3 ) ( 3.4 ) Therefore, ( 3.5 ) 3.2.2 R-R-R operator forward kinematics Fig6. R-R-R operator parametric quantitiesI1002-9000304-900Table2. D-H parametric quantities of R-R operator Transformation matrix for each nexus: ( 3.6 ) ( 3.7 ) ( 3.8 ) ( 3.9 ) ( 3.10 ) The transmutation matrixis gained by matrix generation of the single nexus matrices. At first,is gained by multiplyingand =( 3.11 ) =( 3.12 ) Finally = =( 3.13 ) Here, ( 3.14 ) ( 3.15 ) ( 3.16 ) The matrixestablishes the kinematics of R-R-R automaton operator ; it expresses the relationship between frame { 4 } and frame { 0 } about place and orientation. 3.3 Inverse Kinematicss Inverse kinematics is survey of happening the needed articulation angles to put the tool frame, { T } , comparative to the station frame, { S } . The reverse kinematics job is well harder than the forward kinematics job. Unlike forward kinematics which ever exist solution, solution for reverse kinematics may non be. The being of a solution defines the workspace of a operator. If the exist solution, there can even be an infinite figure of solutions, for instant â€Å"elbow up† and â€Å"elbow down† solutions. 3.3.1 Using for R-R Transformation from frame { 2 } to border { 0 } is mentioned by forward kinematics. In frame { 2 } , the co-ordinate of point P is [ L20 0 1 ] . In the frame { 0 } , the co-ordinate of point P is [ten Y0 1 ] . Therefore ( 3.17 ) ( 3.18 ) Square booth equations so add them: ( 3.19 ) ( 3.20 ) ( 3.21 ) ( 3.22 ) Writingten, Yin the signifier ( 3.23 ) ( 3.24 ) Where ( 3.25 ) ( 3.26 ) If ( 3.27 ) And ( 3.28 ) Then ( 3.29 ) ( 3.30 ) Equation ( 3.23 ) and ( 3.24 ) can be written as ( 3.31 ) ( 3.32 ) So ( 3.33 ) ( 3.34 ) Therefore, ( 3.35 ) Finally, equation for?1 ( 3.36 ) See equation ( 3.22 ) , minus or plus gestural corresponds positions of R-R operator. In this state of affairs, â€Å"elbow up† and â€Å"elbow down† are mentioned. Fig7. Two positions of R-R operator 3.3.1 Using for R-R-R From forward kinematics of R-R-R operator So, ( 3.37 ) From equation ( 3.6 ) , Inverting matrix ( 3.38 ) Substitute in ( 3.37 ) ( 3.39 ) So, ( 3.40 ) See about trigonometric permutations ( 3.41 ) ( 3.42 ) Where ( 3.43 ) ( 3.44 ) Using ( 3.41 ) and ( 3.42 ) , equation ( 3.40 ) can be written as ( 3.45 ) ( 3.46 ) ( 3.47 ) So ( 3.48 ) ( 3.49 ) Finally, the solution for: ( 3.50 ) See elements ( 1,4 ) and ( 3,4 ) of the matrix in the right-hand of equation ( 3.39 ) ( 3.51 ) ( 3.52 ) Square both ( 3.51 ) and ( 3.52 ) so add the resulting equations ( 3.53 ) ( 3.54 ) Or ( 3.55 ) Where ( 3.56 ) Equation ( 3.55 ) is of the same signifier as ( 3.40 ) so can be solved by the same method. Therefore, solution foris: ( 3.57 ) So find solution for, consider: ( 3.58 ) ( 3.59 ) Comparing both the ( 1,4 ) and ( 2,4 ) elements of matrix in right-hand of ( 3.59 ) ( 3.60 ) ( 3.61 ) These equations can be solved at the same time forand ( 3.62 ) ( 3.63 ) From equation ( 3.62 ) and ( 3.63 ) , ( 3.64 ) Because, therefore the concluding solution foris: ( 3.65 ) The subtraction or plus mark in ( 3.50 ) and ( 3.57 ) do four possible position of operator. Fig8. Fourth positions of R-R-R operator 3.4 Jacobians Relationship between the joint speed and the Cartesian speed is determined Jacobian WhereVis a speed vector in Cartesian and ? is the vector of joint angles, J ( ? ) is Jacobian. The Jacobian has figure of rows is peers the figure of grade of freedom in the Cartesian infinite, and figure of columns is equal the figure of joint. For case, a general automaton with six articulations, The Jacobian is matrix of 6Ãâ€"6,is 6Ãâ€"1, and Cartesian speedVis 6x1with 3Ãâ€"1 additive speed vector and 3Ãâ€"1 rotational speed vector. Example for R-R operator theoretical account The Jacobian can be written a 2Ãâ€"2 matrix which relates joint speed to end-effector speed. The location of point P ( end-effector ) is (ten, Y) so, from equation ( 3.17 ) and ( 3.18 ) ( 3.66 ) Derivative ( 3.66 ) ( 3.67 ) Or ( 3.68 ) So, the Jacobian in frame { 0 } is ( 3.69 ) Other progress of Jacobian is invertible. From ( 3.70 ) , joint rate can be calculated with a certain speed vector in Cartesian co-ordinate. Note that most operators will hold values of ? where the Jacobian turns into singular. ( 3.70 ) Chapter 4 Manipulator Dynamics In this chapter, equations of gesture for operator with torsions applied by actuators or external forces applied to the operator are mentioned. Chpater 5 Trajectory and Control Mentions [ 1 ] John J. Craig, 2005, Introduction to Robotics Mechanics and Control, 3rded. , Pearson Education, Inc. [ 2 ] Ahmed A. Shabana, 2005, Dynamics of Multibody Systems, 3rded. , Cambridge University Press. [ 3 ] Reza N. Jazar, 2010, Theory of Applied Robotics Kinematics, Dynamics, and Control, 2neodymiumed. , Springer. [ 4 ] RECURDYN, 2012, RecurDyn/ Solver Theoretical Manual, 8Thursdayed. , FunctionBay, Inc. [ 5 ] Frank L.Lewis, Darren M.Dawson, Chaouki T.Abdallah, 2004, Robot Manipulator Control Theory and Practice, 2neodymiumed. , Marcel Dekker, Inc. [ 6 ] Wikipedia

Assignment 1 Ptlls, Level 4

Assignment 1 – PTLLS – Level 4 Task 1. Establishing ground rules and promoting appropriate behaviour. Level 4. Explain the different approaches you have discovered for establishing ground rules to value the contributions of others and understand the need for respect?Ground rules can be agreed as a group or as a class, having a mutual agreement from the class helps establish and promote respect for each other, knowing what is intended from the class and taking responsibility for learning as individuals and as a group, as working as a team and respecting each others opinions, and agreeing to disagree, however still respecting the other person’s opinions. Discussing and agreeing ground rules with the class makes for transparency and openness with the class and individual awareness of this matter.Ideally it may resolve any animosity. Inclusive learning is about recognizing that each learner is different from other learners in many ways. As a teacher; you need to work in partnership with your learners to ensure that learning is effective. Partnerships always work best when both sides know where they stand. If your learners understand what is required of them and what they can expect from you, they are more likely to make the necessary commitment to learning and to be successful in achieving their aims and ambitions. Gravells and Simpson 2008, p. 21) Promoting appropriate behaviour so that individuals respect each other and this would also help eradicate bullying style of behaviour. Although, you would think this would not happen with adults, however it does. ‘The know it all’, explaining to the class whilst interrupting teaching, giving too many personal experiences or examples, this can be really frustrating for the learner, who needs to listen and understand the point of the teacher.Once ground rules have been established this would make the individual / class aware of their own behaviour for example ‘only having one convers ation at a time in the class’ and ‘respecting other people’s contributions’. Has adults in a further education environment, one would know how to behave appropriately. Ice-breakers are a great way of getting to know each other, having fun and knowing something about someone can also promote respect. Well-chosen icebreakers can ease learners through the discomfort of getting to know others, and the teacher better.They can help to set a positive atmosphere for learner interactions and encourage interest in the overall learning experience. (Gravells and Simpson 2008, p. 10) Having boundaries for a teacher and learner also promotes respect and appropriate behaviour for the teacher and the learners. This may include personal space, physical contact, other students within the institution, the age of the student being taught, the location: college, work place, training etc.This is also to safe guard minors, well being, duty of care, equality and work ethics, it i s important not to overstep these. For example; if a teacher accepts a gift such as money or diamonds, this maybe considered has favourtism, bribery, (boundaries can be agreed about giving / receiving gifts, thus the type of gift presented to either party) and if a teacher gives gifts to a minor this maybe considered as grooming, it is important not to overstep this grey area. (Gravells and Simpson 2008, p. 1 and 12) explains the reasoning behind ground rules: Agreeing ground rules with learners Under the new Professional Standards for Teachers, Tutors and Trainers in the Lifelong Learning Sector your aim will be to create a safe learning environment that promotes tolerance, respect and co-operation between your learners. One of the best ways of achieving this is to develop an agreement with your learners regarding ground rules. These are rules that should be agreed by, and followed by, all learners within your group.Involving your learners in the process encourages them to take res ponsibility and ownership for their own learning. Your learners will learn best in an environment in which they are able to participate, voice their opinions, ask questions and be actively involved in determining how they will learn. Ground rules should be agreed by the whole group rather than imposed by you. By showing an interest in their decisions, you are communicating with your learners that they are valued as individuals, who bring useful skills and knowledge to the session.You might think that they will agree to switch off their mobile phones and arrive on time. However, it might be useful to get them to think about dividing their ground rules into rights and responsibilities; for example: †¢ We have a right to: o Be treated with respect; o Be listened to; o Be assured of confidentiality. †¢ We have a responsibility to: o Be on time for sessions; o Not disrupt the session; o Switch off mobile phones. (Gravells and Simpson 2008, p. 11 and 12)We all have a right to le arn, listen and contribute in class, as individuals will have their own intent for how and what end results they desire. Knowing this contributes to respect for others, as we all have different learning styles. Has an individual has paid to study and not be disrespected by anyone within the location and in the class. Word Count: 814 Reference List: Gravells, A. and Simpson, S. (2008) Planning and Enabling Learning in the Lifelong Learning Sector Learning Matters Ltd. Exeter.

Allelopathy Lab Essay

INTRODUCTION The purpose of this lab was to observe the effects of chemical warfare among plants. Plant seeds compete with other plants and seeds, for sunlight, and nutrients in order to germinate. In order to win dominance over other seeds, and reduce competition, plants produce and release a chemical in order to prevent other seeds from germination. This type of chemical warfare is referred to as allelopathy. Allelopathy exists in many parts of the plants such as leaves, roots, stems, or fruits, but not limited to just the plants. These toxic chemicals can also be found in the surrounding soil, to prevent other plants or seeds from absorbing proper nutrients to stimulate growth. Groups will test for the presence of allelopathic chemicals in plant shoots from the chaparral community. If the hollyhock exhibits allelopathy, then an extract will inhibit the germination, and or growth of the radish seeds. MATERIALS & METHODS The group prepared for this experiment in the lab of Professor Sadler at SBVC on the second floor of the HLS building. First, the groups set up for this lab by gathering leaves that Professor Sadler had already bagged and identified. Each sample was cleaned and striped of everything most importantly the stem, so that all was left was the leaf its self. Then each group weighed out Ten (10) grams of leaves, and then placed into a blender with One hundred (100) milliliters or water. The group then blended the leaves and water until the mixture was a very thin fluid. Three (3) folded cheesecloth’s were placed into a funnel in order to remove any solids from the fluid itself, then poured into a small beaker, to be used later on in the experiment. Then each group prepared two (2) Petri dishes, by placing three (3) filtered papers in the bottom of each Petri dish. After the filtered paper was placed into the bottom of each dish, twenty (20) radish seeds (Raphanus sativus) were then placed on top, and evenly distributed throughout both Petri dishes, as to make sure none of them were touching. A final filtered paper was placed on top of the seeds and ten (10) milliliters  were of distilled water was poured over the seeds of one Petri dish, the lid was then placed on the Petri dish and labeled â€Å"control†. In the other Petri dish, the ten (10) milliliters of the filtered and blended mixture was added to the second Petri dish to make sure the filter papers were evenly saturated. The second lid was then placed over the Petri dish and labeled â€Å" hollycock†. The Petri dishes will then sit for a week for germination and then evaluated. RESUTLS After one week of germination, the group removed the lids of each Petri dish, and removed each seed that had germinated and measured the length of the entire stem and leaves. Please notice the attached page for the data of each seed. In the Petri dish labeled â€Å"hollycock†, Experiment Group A. the group tested a total number of twenty (20) radish seeds (Raphanus sativus), out of the twenty (20) seeds, there was only a twenty-five (25) percent of germination, and only five (5) seeds had actually germinated. The length of each seed varied in lengths from the shortest, three (3) millimeters to the longest fourteen (14) millimeters. Each length of all twenty (20) seedlings were added up and divided by twenty (20) and the group averaged 2.7 millimeters in length of the germinated seedlings. In the second Petri dish labeled â€Å"control†, Experiment Group B, out of the twenty (20) radish seeds tested with just distilled water, a percentage of eighty-five (85) percent of successful germination, and the actual number was seventeen (17) actually germinated. The length of these seeds varied in sized from the shortest of seven (7) millimeters to the longest of ninety-two (92) millimeters. Each length of all germinated seeds from the controlled group were added up and then divided by twenty (20) and the average length of the germinated seedlings is 19.35 millimeters. DISSCUSSION As a result of this lab it has been prove that the hypothesis is in fact correct. In reference to the group’s data, the radish seeds exhibited allelopathy, but a majority of them not germinating. Allelopathy derives from two separate words, allelon which means â€Å"each other† and pathos means â€Å"to suffer.† It is a type of chemical warfare that is used between plants and against other plants. Oddly enough, experiment group B, the controlled group seeds, that received the distilled water, germinated more then the  experiment group A, the ones that received the blend of water and hollycock leaves. The only problem that the group faced was that it was difficult to completely blend the leaves of the hollycock plant to make it liquefiable enough to get just enough out to pour over the radish seeds. Other variables that could have possibly affected germination of the seeds, was but are not limited to, the amount of sunlight that was given to the seeds, and or if the liquid was evenly distributed. Although, the group measured out the exact amount of liquid needed for the seedlings, I can only wonder if some of the proteins or nourishments were left in the solid blending in the cheesecloths? In the end the hypothesis was supported by the groups data as the hollycock did exhibit signs of allelopathy.

Causes of World War vocab

The Tsarina, Alexandra, thought he was a miracle and welcomed him to the royal family. That's when he started Glenn bad advice to Tsar Nicolas. 3. Militarism Militarism is the belief that a country should have a strong military and to be prepared to use it whenever the country needs protection. Militarism is significant because this is part of the main causes of WWW. All the powers wanted to have a good military to be prepared for war. Because of being prepared all the time, WWW was quick to happen; because of just one event. 4. NationalismNationalism is the belief that your own county is the best and deserves all the power. Nationalism is significant because it's part of the base reasons why WWW happened. When Germany became a nation in 1871, it disturbed the balance of power in Europe. The other European countries thought that Germany would be a threat to their power. So all the powers thought they were the best and that caused conflicts, which caused WWW. 5. Imperialism Triple Ent ente Imperialism is a policy in which a strong nation looks to dominate other countries politically, economically or socially.This is an alliance consisting of Britain, France and Russia in 1907. This is significant because it was one of the earliest causes of WWW. The scramble for Africa to imperialism it caused many conflicts and tensions within the powers. The European powers were competing a lot between each other for African territory. Those rivalries played a big role later in the causing of WWW. This alliance was important because these were one of the biggest powers. All 3 had something in common: they didn't like Germany & Austria. That brought them to make an alliance ND had a common goal of getting rid of Germany and Australia's power.Soon that became more definite and was on the way to having WWW. 7. Triple Alliance This is an alliance consisting of Germany, Austria-Hungary and Italy in 1907. This alliance if significant because Germany and Austria were very close and ha d common ideas. Russia used to be with them (Emperors League) but since they got out because of the Congress of Berlin, Italy took its place. Their ideals were that they had to support previous alliances and provide a defense system against the other European powers. Because of these rivalries, it soon caused WWW. Blank Check The black check is a check that Germany gives to Austria; reassuring them that Germany will fully support Austria, no matter what. The Blank Check is significant because Germany, basically, blindly gives their support to Austria- without considering what's happen in the future. Since William II says that, it gives Austria an even bigger ego. Later Austria and Serbia have conflicts and are very close to war; at this point Germany can't back out now because they already gave their word to Austria. 9. Archduke Francis Ferdinand He is the hair to Austrian throne.He was soon to become the king of Austria until him and his wife, Sophia, got assassinated by Gabriele P rince; who was with the Black Hand group. Archduke Francis Ferdinand is significant because this is the event that really started WWW. Because of his assassination, by Gabriele Prince, Austria is furious and automatically thinks that it was Serbians doing; even without proper evidence. It does turn out that Gabriele Prince was with a group from Serbia, so that's when WWW began. 10. The Balkan states consisted of Serbia, Bulgaria, Montenegro, and Greece; it made â€Å"The Balkan League†.The Balkan states were under Ottoman control. The conflicts between these states caused Balkan wars. The Balkan Crises is very significant because the Balkan states wanted independence from the Ottomans. So in 1878, Bulgaria was created in the Treaty of San Stefan, it was viewed as a Russian satellite. Then it got reduced and returned to Ottomans in the Congress of Berlin. In 1912, Serbia, Bulgaria, Montenegro, and Greece defeated Ottoman provinces (Albania & Macedonia) but couldn't decide how to split it, resulting in the 2nd Balkan war (1913). Then Greece, Serbia Romania and Ottomans defeated Bulgaria.Because of that, Bulgaria got a little of Macedonia- the rest was divided by Serbia & Greece. Still, Serbia was unsatisfied of the amount of land. The two Balkan wars created more tensions among the great powers. 11. Black Hand/Gabriele Prince This group was a Serbian terrorist group that wanted to create a pan-Slavic nation. It was made up of military & some government officials. Gabriele Prince was part of this group. The Black Hand is significant because Gabriele Prince was part of it. He was a big deal because Prince was responsible for the assassination of Archduke FrancisFerdinand. Since he was heir to the throne, it caused a great deal of fury in Austria. This was the major event that caused WWW. 12. Austrian Ultimatum On July 23, 1914 Austria gave Serbia a set of extreme demands if they don't want to go to war with Austria. This ultimatum is very important because when Austria gave Serbia the ultimatum, Serbia didn't agree. Serbia didn't agree because the demands were very extreme and unrealistic for a country to agree with. That resulted in Austria declaring war on Serbia on July 28. Then that started involving other countries which turned into WWW.

Animal Assisted Therapy Research Proposal Example | Topics and Well Written Essays - 2500 words

Animal Assisted Therapy - Research Proposal Example More recently, clinicians, nursing professionals and therapists are implementing animal-assisted interventions in working with geriatric population. The increase in numbers of elders living in nursing homes and exhibiting various symptoms and behaviors, such as depression, apathy and anxiety, which decrease their quality of life, is anticipated to demonstrate a corresponding growth within the long-term care setting. Nursing homes and similar institutions can expect to house more and more individuals who could benefit from an improved quality of life if therapeutic interventions were implemented to change these behaviours and consequently improve residents' quality of life. Current research indicates that the need for therapeutic interventions to improve quality of life for elders is readily recognised, and alternatives and options for implementation are often suggested with solid empirical evidence to support their effectiveness. Animal assisted therapy is cited in the literature as a therapeutic intervention that holds promise as one such modality. ... STUDY OBJECTIVES This study is empirically based and allowed for the investigation of effects within individual subjects. The study is designed with a philosophy that animal assisted therapy is an adjunct to an already established therapeutic discipline with its own standards of practice and methods, and acknowledged that the therapist is an integral aspect to the therapeutic intervention. The study acknowledges that while animals may be therapeutic, they are not therapists, and that animal assisted therapy cannot be implemented without a therapist specifically trained in a particular discipline, such as recreation therapy or psychology. Additionally, the design allowed for the application of nursing reasoning, a clinical assessment, a deliberately developed and implemented therapeutic intervention, and exploration of the effects of individualised animal assisted therapy on elders residing in nursing homes and its impact on their quality of life. Particularly, the goal is to examine the effect AAT ha s on self-reported quality of life in nursing home residents. Research studies in AAT have been conducted by various disciplines such as anthropology, psychology, gerontology, and veterinary medicine. To date, academic nursing has devoted limited effort to gathering information on the role of nurses in providing AAT. Currently, there is no nursing theory, and there is limited research on the benefits of animals to the elderly. The problem of quality of life among the elderly in long-term care facilities and nursing homes is common and is a problem that falls into the realm of nursing to monitor and address. It is also within the

Antony and Cleopatra Essay Example | Topics and Well Written Essays - 1000 words

Antony and Cleopatra - Essay Example Therefore, it becomes debatable if he actually lost honor or gained honor over the course of the play. Berek (1981) notes that the play is full of conflicts and these conflicts are internal as well as external. For example, the conflict between Rome and Egypt is an external conflict which is reflected in political struggles as well as war in which honor can be gained or lost. For Antony however, the internal conflicts between reason and emotion as well as duty and love are more difficult to handle than war or politics. In fact, the character of Mark Antony gains as wel as loses honor because of these conflicts that he can not handle and as reported by Berek, â€Å"These fatal conflicts corrupt Mark Antony (in the older view of the play) or (as more recent critics argue) translate the lovers into a realm of pure nobility† (1981, Pg. 295). The case of Antony is also complicated by the fact that his definition of honor focuses on who he is as a person. Instead of considering himself to be honorable if he is able to vanquish his enemies or honorable if he is able to help his friends in need, he considers his honor to be his own self. He says â€Å"If I lose my honor, / I lose myself† (Act 3, Scene 4) and for him, this definition is sufficient. While we have a general idea of what were honorable acts during the times the play is set, we have no real insight into what Mark Antony considers to be the exact meaning of honor. We do however get an idea of what he could think is a loss of honor since falling in love with Cleopatra has made his lose his wife and his sense of duty towards Rome. In Act 1, Scene 2, Antony says that he could â€Å"lose himself† since he is continually doting upon Cleopatra and not focusing on his duties. At the same time, there is honor and inherent nobility in love which he considers to be more important than the duties that he feels. This sort of flip flop lets the audience know that he is indeed an honorable man but he is in

Research Question paper Example | Topics and Well Written Essays - 1000 words

Question - Research Paper Example Lastly, experiments can be repeated for a number of times with different sample sizes until the expected outcome is achieved. Surveys on the other hand are not quite reliable since they will cost more while being repeated. Content analysis is best suited for social science studies that highly rely on research based on already existing literature. According to Babbie (2010), it is "the study of recorded human communications such as books, websites, paintings and laws†. Ethical considerations are also very essential while conducting a study. According to the APA (2002), five principles should be implemented by the researcher. These include: Participant should be informed of intellectual property (IP) rights. Researcher should follow informed – consent rules. Researcher should be professional. Researcher should practice confidentiality. Researcher should be capable of solving ethical dilemmas. Some of the limitations with regard to the experiment include human error. Sectio n 2: SAMPLING The participants who will be sampled include students from the different levels in the college. The number of participants will be controlled to 40 participants. These participants will be randomly selected – A random sampling technique will be used. The population of interest is individuals aged from 18 to 37 years. In addition to that, there will be other secondary sources of information that will be used so as to support the evidence being studied. That is, the secondary resources will act as additional literature entries. It should be noted that having a controlled sample size is key in every study. This is in a bid to prevent the experiment from being extremely tedious, uncontrolled as well as preventing the use to too many resources. As a result, the sample size that has been selected will perfectly represent the targeted population. Limitations in the sample include: Type 2 errors, lack of statistical power, distribution inequalities and lack of significa nce. Section 3: KEY VARIABLES In this hypothesis testing, the variables under study include the age of the participants and the effect of instructor humour in student learning. The age of the participants: It is without doubt that humour has its effect on different age groups differently. For example younger people may find humour important in student learning as compared to elder people. As a result, this is a variable that is very crucial in this testing. Effect of instructor humour: This is another variable that is important in this study. It will be used to determine which age group fancies humour in the learning environment. Independent variable: An independent variable is that which can be changed in a study. Largely, any experiment must have an independent variable. With regard to the hypothesis being tested, the independent variable is the impact of humour in student learning. As a result, the humour could be projected by the instructor or not. Dependent variable: This is a variable that solemnly depends on the independent variable. As a result, these variables act as functions of the independent variable. With regard to the hypothesis being tested, the dependent variable is the age of the participants. In the experiment, the hypothesis will be: â€Å"The effects of instructor humour on student learning† Section 4: ANALYSIS The level of measurement is a representation of the different methods in which numbers can be used in an experiment. There are four major levels of