A suitable use of software packages for optimization problems can give the possibility to formulate design problems of robotic mechanical systems by taking into account the several aspects and behaviours for optimum solutions both in design and operation. However, an important issue that can be even critical to obtain practical solutions can be recognized in a proper identification and formulation of criteria for optimability purposes and numerical convergence feasibility. In this paper, we have reported experiences that have been developed at LARM in Cassino by referring to the abovementioned issues of determining a design procedure for manipulators both of serial and parallel architectures. The optimality criteria are focused on the well-recognized main aspects of workspace, singularity, and stiffness. Computational aspects are discussed to ensure numerical convergence to solutions that can be also of practical applications. In particular, optimality criteria and computational aspects have been elaborated by taking into account the peculiarity and constraint of each other. The general concepts and formulations are illustrated by referring to specific numerical examples with satisfactory results.
This paper presents the concept and modern technological approach to the fabrication of discrete, integrated and integral micropassives. The role of these components in modern electronic circuits is discussed too. The material, technological and constructional solutions and their relation with electrical and stability properties are analyzed in details for linear and nonlinear microresistors made and characterized at the Faculty of Microsystem Technology, Wrocław University of Technology.
Józefa Dietla street in Kraków has been constructed in the second half of the nineteenth century. It was a pioneering urban design solution, meant to act as a sort of ventilation duct for the city, so that its climate could be improved. An important element of this system of ventilating the city is the area currently occupied by a football pitch of the "Nadwiślan" sports club, which allows the breeze of the Vistula river into the city. This idea is evidence of the modern and forward thinking approach to urban planning in Kraków during those times. The role of Józefa Dietla street as a ventilation duct has currently been all but forgotten and is underappreciated despite the fact that the amount of air pollution in Kraków has greatly increased in comparison to the times when the street was being constructed. A measure of this disdain for the role that Józefa Dietla street and the area of the "Nadwiślan" play in keeping the sanitary conditions within the city at acceptable levels is the current layout of the area, which has significantly reduced the ventilating capacity of the street. The planned construction of a residential apartment building in place of the current football pitch will definitely hamper the capacity in which the street can be used for ventilation purposes. In this manner, the evidence of pro-ecological thinking of the urban planners of the XIX century is being wasted by their XXI century counterparts.
Water is an essential commodity which affects life and livelihoods in the universe. This study examined perceived ef-fect of water scarcity on livelihoods in Iwoye-Ketu, Ogun State. Random sampling was used to select 80 rural households and water samples for the study. Data collected were analysed using descriptive, inferential and laboratory analyses. Find-ings showed that the mean age of respondents was 38 years with an average household size of four persons. The major sources of water were boreholes (97.5%) and rainwater (90.0%), the average trekking time to the water source was 24 minutes and the households requires an average of 162 litres of water per day. Water analysis’ result showed that the water has pH (6.87), total dissolved solids (0.175 mg∙dm–3), temperature (29.9°C) and turbidity (0.6 FTU). The major causes of water scarcity include insufficient rainfall (97.5%), increased sunlight intensity (97.5%), pollution of water sources (95.0%)and increased population (93.8%). About 60% of them perceived water scarcity to have a negative effect on their liveli-hoods. Correlation analysis shows that there is a significant relationship between usage of water (r = 0.370, p < 0.01) and perceived effect of water scarcity. It was concluded that water available for household use is not sufficient, although it is safe but contain some elements which are not of World Health Organization standard for good potable water. It is recom-mended that the community should build a hub for water collection and distribution close to the village centre and the gov-ernment should provide water infrastructures to increase the supply of potable water.