bluuebunny/crossref_metadata_2025 huggingface dataset:
A Framework of In Situ Model Error Compensation for Adaptive Robotic Task Execution
Authors: Pradeep Yazhini Chitra , Zhou Sheng Feng , Dharmawan Audelia G. , Otto Kevin , Chen I Ming , Chen Peter
Published: September 2015

In precision robotic applications, inaccuracy in workpiece geometry has been a common problem to the precise processing of the workpiece. Due to manufacturing defects and workpiece deformation, the actual geometry of the workpiece deviates from its nominal 3D CAD model which is defined as model error. For many of the existing industrial robotic applications today, the robot path for processing the workpiece is planned based on the nominal 3D CAD model of the workpiece. Hence, the model error of the workpiece leads to error in the robot path planning eventually inducing inaccurate processing. To enhance the accuracy of the robot in processing the workpiece, a framework for in-situ model error compensation has been proposed. Prior to the processing of each workpiece, the proposed technique employs 3D optical laser scanning technology to capture the actual 3D model of the workpiece and compares it with the nominal model to establish the model errors. The nominal path of the robot initially created based on the nominal CAD model is then modified according to the model error. Thus, this step performs the in-situ model error compensation making the robotic task adaptive to the actual workpiece geometry. Experiments have been conducted to verify the proposed framework and an accuracy of up to 30 micrometers has been achieved in model error identification and compensation. The proposed technique can be employed in applications such as high precision robotic tasks, where accuracy of task execution is an important factor.
Investigating the Degradation Resistance Improvement of Polymer Surfactant Complex Drag Reducing Agent
Authors: Abdulbari Hayder A. , Basheer Esmail A.M. , Shabrin Ainoon , Mahmood Wafaa Kamil
Published: September 2015

Polymers-Surfactant complex efficacy in reducing the drag is of an interest subject in drag reduction research. Turbulent drag reduction (DR) efficiency of Sodium Polystyrene Sulfonate (NaPSS) sodium Alkylbenzene sulfonate complex was studied in a rotating disk apparatus. The solution complex was prepared by varying the concentration of the polymer between 100 to 1200 ppm and the surfactant between 100 to 700ppm. Measurement of torque values were recorded for each sample. The NaPSS (Sodium Polystyrene Sulfante) was found to have an ability to reduce the drag in the turbulent flow. A significant improvement was recorded for the addition of tiny amount of surfactant to the polymer system compare to the pure polymer drag reduction. At high surfactant concentration, it was found that the polymer drag ability decrease. The polymer was degraded when it is subjected to a high shear stress. The degredation resistance was increased by the addation of the surfactant to the polymer solution at concentration range of 100ppm to 400ppm of surfactant.
Mathematical Model Based Attitude Control of Inverted Pendulum Type Mobile Robot
Authors: Yoon Jin Ho , Ko Ah Do , Choi Kil Hwan , Park Hyoung Bae , Chung Myung Jin
Published: September 2015

In this paper, attitude control method based on mathematical model for inverted pendulum type mobile robot was proposed. After the inverted pendulum type mobile robot platform was designed, a mathematical modeling was performed. Also, the motor parameters and the mechanism parameters were estimated, and then the estimated parameters were substituted into the mathematical model to obtain the state-space model of mobile robot platform. Using this, a PID controller was designed, and simulations were performed. Also, the experiments were performed after applying it to the mobile robot platform. The simulation and experimental results were obtained similarly, and attitude control performance was excellent.
Design Guidelines for an Embedded Permanent Magnetic Matrix Wheel Climbing Robot
Authors: Boonyaprapasorn Arsit , Thung-od Kaned , Maneewarn Thavida
Published: September 2015

This paper aims to study the design of a climbing robot with an embedded permanent magnetic matrix (EPMM) wheel. There are a number of advantages for an EPMM wheel including lighter weight, lower cost and higher degree of adaptability compared to a donut permanent magnet wheel. The magnetic adhesive force on the EPMM wheel can be adjusted by changing the wheel configurations such as number of magnets embedded in the wheel, the thickness of flange and the flange geometry. From various experiments, the EPMM wheel design guidelines are proposed for ferromagnetic wall climbing robot applications.
Dynamic Optimization of a Three Translational Degrees of Freedom Parallel Robot Based on a Multi-Objective Genetic Algorithm
Authors: Lu Xing Guo , Liu Ming , Kong Min Xiu
Published: September 2015

This work tends to deal with the multi-objective dynamic optimization problem of a three translational degrees of freedom parallel robot. Two global dynamic indices are proposed as the objective functions for the dynamic optimization: the index of dynamic dexterity, the index describing the dynamic fluctuation effects. The length of the linkages and the circumradius of the platforms were chosen as the design variables. A multi-objective optimal design problem, including constrains on the actuating and passive joint angle limits and geometrical interference is then formulated to find the Pareto solutions for the robot in a desired workspace. The Non-dominated Sorting Genetic Algorithm (NSGA-II) is adopted to solve the constrained nonlinear multi-objective optimization problem. The simulation results obtained shows that the robot can achieve better dynamic dexterity and less dynamic fluctuation simultaneously after the optimization.
Mars-500 Program Space-Based Mobile Robot “Turist”
Authors: Ivchenko Valeriy , Krug Petr , Matyukhina Ekaterina , Pavelyev Sergey
Published: September 2015

The problems of design and implementation of remotely reconfigurable intelligence for space-based robotic systems and, specifically, mobile robots are highlighted.
The classification of reconfiguration technologies, the specifications of remote reconfiguration, the functional structure of remotely reconfigurable intelligence are described.
The space-based mobile robot-explorer "Turist" is presented.
Usage of Nano Silica in Synthetic Based Mud: A Comparison Study for High Temperature High Pressure Well
Authors: Md Yusof Muhammad Aslam , Wahid Norazwan , Hanafi Nor Hazimastura
Published: September 2015

Synthetic based mud has been widely used in the drilling operation because of its good properties. However, prolonged exposure of the mud in high temperature causes degradation of the good mud properties because of chemical instability. Because of that concern, this study intends to improve the performance of SBM with nanosilica at different concentration in high temperature high pressure (HTHP) applications. nanosilica with size of 10-20 nm has been selected for this study. The involving parameters in this study include the manipulation of nanoparticles concentration by total mud weight between 0 to 1.78 wt. %, and performance at temperature up to 350°F. The enhanced formulation has given significant benefits by reducing the filtration up to 41.67% and act as the rheology modifier in HTHP condition. Moreover, the optimum amount of nanosilica is 0.71% of total mud weight to avoid further rheological and filtration degradation.
A Systematic Approach for Modeling and Analyzing Mechanical Assemblies that Require Remote Handling
Authors: Orona Luis Miguel , Mattila Jouni , Weick Helmut
Published: September 2015

The proposed systematic approach for modeling and analyzing mechanical assemblies that require remote handling is based on developing assembly models found in the literature but considering the specific characteristics of the machines that require remote handling. Five assembly models to represent mechanical assemblies are identified and discussed. An important contribution is the definition and modeling of four sequential stages (locate, guide, fit and lock) for the assembly and disassembly of components by means of remote handling. The proposed approach provides a baseline to understand the process of assembly and disassembly by means of remote handling and it can be used to develop innovative assembly features compatible with remote handling.
Instruction Format Design for Low Power Embedded Systems
Authors: Youn Jong Hee M. , Park Dae Jin , Cho Jeong Hun , Cho Doo San
Published: September 2015

Embedded systems demand to take high performance while executing on batteries. In such environment, the systems must be optimized with available technique to reduce energy consumption while not sacrificing performance. Especially, in mobile devices, power consumption is an important design constraint. Switching activity accounts for over 90% of total power consumption in a digital circuit. In this paper, we describe an approach to design instruction format for low power instruction fetch. The proposed method reduces switching activity of the instruction fetch logic by using a heuristic that minimizes switching between adjacent instructions. To do this, the proposed approach encodes opcodes so that frequently executed instruction pairs have smaller bit changes.
Processing Temperature of Sustainable Polymer with Thermoplastics by Injection Molding (Part 2)
Authors: Rus Anika Zafiah Mohd , Salim Nurul Syamimi M. , Sapiee N. Haiza
Published: September 2015

Moving to a more sustainable and healthy future, the world has decided to invest on researches to make good use of waste vegetable oil rather than letting them clog the drains and hence, polluting the environment. One of the useful projects which uses these waste cooking oil is to synthesize polyols. Solidifying the polyols using cross linker produces a Sustainable Polymer (SP). These SP are compounded with the High-Density Polyethylene (HDPE) by melt-mixing using injection molding machine. Injection molding is capable of producing many useful products. Therefore, aiming to analyse the processing conditions of injection molding, the corresponding mechanical properties of the compounds produced were examined. The results indicated that increasing the SP content will increase the toughness of the compound if compared to neat HDPE. It was concluded that the processing temperature and composition of SP will both influence the quality and mechanical behavior of the injected polymer compounds.
Automatic Recognition of Multi-Axis Machining Features Based on Machining Process from 3D Solid Model
Authors: Lan Phung Xuan , Sinh Hoang Vinh
Published: September 2015

This paper presents an effective rule-based method for extracting and recognizing the machining features from 3D solid model. The machining feature is automatically recognized while considering the relationship between machining feature and machining process. This proposed method is capable of recognizing not only prismatic machining features but also multi-axis machining features from many kinds of complex design features in both protrusion and depression. It also succeeds in recognizing various types of interaction in a uniform way. The capability of the proposed method is demonstrated in one specific case study.
Extended Modeling of Vertical Axis Motion Dynamics of VTOL Vehicle
Authors: Janusz Wojciech , Czyba Roman , Szafrański Grzegorz , Niezabitowski Michał
Published: September 2015

Development of a reliable high-performance multirotor unmanned aerial vehicle (UAV) requires an accurate and practical model of the vehicle dynamics. This paper describes the process and results of the dynamic modeling of an unmanned aerial platform known as quadrotor. To model a vehicle dynamics, elementary physical and aerodynamical principles has been employed. Parameter estimations, from a UAV design have been obtained through direct and indirect measurements. In addition to standard configuration of VTOL (Vertical Take-Off and Landing) platform, the amortized landing gear, modeled as spring-damper system, has been added. The resulting model has been implemented in a simulation environment under MATLABs toolbox, SIMULINK. Some numerical results are presented to illustrate response of the open loop system to specific commands.
Design of Transfer Alignment for Micro-Inertial Attitude Measurement System Based on Distributed
Authors: Wang Yu Kun , Han Song , Liu Zhuang Hua , Yu Xiang Hai
Published: September 2015

In view of the specific environment of the reconnaissance UAV (Unmanned Aerial Vehicle), it is necessary to design a micro-inertial attitude measurement system. The ground-demo of the distributed micro-inertial attitude measurement system was set up. Then the attitude error measurement equation was deduced. Based on this, the Kalman filter using the “velocity and attitude” matching algorithm was designed. Through vehicle test, the experimental results show that the precisions of horizontal angle and azimuth angle are superior to 1.5′ and 2.3′ respectively by the proposed algorithm. All these characteristics show that the scheme is feasible and can provide reference for the engineering application of the distributed micro-inertial attitude measurement system.
Ground Semi Active Damping Force Estimator (gSADE) for Magnetorheological Damper Suspension System Using Quarter Heavy Vehicle Model
Authors: Sulaiman Syabillah , Samin Pakharuddin Mohd , Jamaluddin Hishamuddin , Rahman Roslan Abd , Abu Bakar Saiful Anuar
Published: September 2015

This paper proposed semi active controller scheme for magnetorheological (MR) damper of a heavy vehicle suspension known as Ground Semi Active Damping Force Estimator (gSADE), where it was modified from Semi Active Damping Force Estimator (SADE) algorithm. A reported algorithm known as Groundhook (GRD) was developed where its aim to minimize tire road forces and hence reduce road damage. Thus, the objective of this paper is to investigate the effectiveness of the proposed gSADE algorithm compared to GRD and SADE. These algorithms are applied to a quarter heavy vehicle models and the simulation model was developed and simulated using MATLAB Simulink software. Ride test was conducted at three different speeds and three bump heights, and the simulation results of gSADE, SADE and GRD are compared and analysed. The results showed that the proposed controller is able to reduced tire force significantly compared to GRD control strategy.
Effect of Cr on Grain Refinement and Mechanical Properties of Al-Si-Mg Alloys
Authors: Kumar Aakash , Sharma Gaurav , Sasikumar Chandrabalan , Shamim Shahrukh , Singh Himkar
Published: September 2015

Grain growth of Aluminium alloys at high temperature reduces their strength significantly. Therefore it is essential to control the grain growth by suitable techniques. The effect of Cr on refining the grain structure of Al alloys is investigated in the present work. Cr is added into Al-Si-Mg alloy by stir casting techniques. Subsequently the alloys were subjected to annealing at 500oC for 1 hour to study the grain growth behavior of these alloys. An optical microscope is used to analyze the grain size and microstructure. The mechanical properties of these alloys were studied using a universal testing machine. The Cr additions were varied between 0.5 to 4 weight percent. The Cr addition had shown a significant effect in refining the grain size of Al-Si-Mg alloys. The average grain diameter after annealing was found to be about 151 μm in unalloyed samples while, the 2 wt % Cr added samples showed about 92 μm. The second phase particles, Al7Cr found precipitated along the grain boundaries apart from Al2Si and Mg2Si. However Cr additions more than 2% does not show significant role in refining the grain size. Cr also improved the mechanical properties such as yield strength, ultimate tensile strength and fracture toughness moderately.
Sensorless Control Based on Virtual Neutral Voltage for BLDC Motor Drive
Authors: Yu Chih Hsien , Tseng Chyuan Yow
Published: September 2015

Based on the characteristics of the back electromotive force (back-EMF), the rotor position information would be detected. Hence, the main theme of this paper is to design a practical approach to detect the zero cross point (ZCP) of back-EMF through virtual neutral voltage for sensorless brushless direct current (BLDC) motor drives. In contrast to conventional methods, the real neutral voltage of motor is not needed. In order to compensate the phase delay of the back-EMF due to low-pass filter (LPF) under different speeds, a voltage-controlled phase shifter, consisted of hysteresis comparator and voltage-controlled resistor (VCR), is proposed in this paper. The detail circuit model is introduced and some experimental results obtained from a sensorless prototype are shown to confirm the practicality of proposed senosorless drive method.
Vibration Control of Strain Gradient Nonlinear Micro-Cantilevers Using Piezoelectric Actuators
Authors: Vatankhah Ramin , Nojoumian Mohammad Ali , Salarieh Hassan
Published: September 2015

A closed-loop control algorithm is used for stabilization of a vibrating nonlinearstrain gradient micro Euler-Bernoulli cantilever beam usinglinear piezoelectric actuation.In this paper, the governing partial differential equation (PDE) of the nonlinear strain gradient beam with piezoelectric actuator is obtained. Galerkin projection method is utilized to reduce the system’s PDE equation of motion into a set of nonlinear ordinary differential equation (ODE) model. The nonlinear system is controlled by a robust linear controller which ensures the stability of the nonlinear system. Numerical simulations are investigated to demonstrate the effectiveness and performance of the designed control scheme.
Accuracy of Additive Manufactured Parts
Authors: Neitzert Thomas Rainer
Published: September 2015

Additive manufacturing processes and materials are described with respect to their ability to generate finished products. The accuracy of produced parts is seen as an important criterion for this technology to compete with subtractive or constant volume technologies. From the existing literature can be concluded process variation is high and part accuracy is not better then IT grade 9. The manufacturing process itself is complex and dependent on a number of machine, material and geometry parameters. A better understanding of the heat transfer within the product build environment will assist in the future to improve the process and therefore the resulting parts’ accuracy.
Enhanced Grey Variable Structure Control Methodology of Parallel-Connected DC-AC Inverters for Ultra-Precision Machining
Authors: Chang En Chih , Cheng Hung Liang , Chang Chien Hsuan , Liu Jin Wei , Chuang Chih Hsien , Wang Pei Shan , Liao Kuo Yuan
Published: September 2015

This paper develops an enhanced grey variable structure controlled DC-AC inverter in parallel, and is suitable for the application of ultra-precision machining (UPM). The enhanced grey variable structure control methodology consists of a nonlinear sliding function (NSF) and a grey model, GM(2,1). The NSF has finite system-state convergence time, and thus the AC output voltage regulation and balanced current-sharing among the parallel modules can be achieved. However, once the loading of the UPM is a highly nonlinear condition, the chatter still exists in NSF. The chatter may cause heat losses and high voltage harmonics in parallel-connected DC-AC inverter output, and thus deteriorates the stability and reliability of the UPM. To eliminate the chatter, the control gains of the NSF can be adjusted by the use of the GM(2,1) under system uncertainty bounds are overestimated. With the enhanced methodology, the parallel-connected DC-AC inverter yields a high-quality AC output voltage with low voltage harmonics and fast dynamic response under highly nonlinear loading, thus achieving the stability and reliability of the UPM. Experimental results are performed to demonstrate the enhanced methodology.
Bulging Deformation Prediction and Experimental Verification of Bonded Double-Layer Clad Cylinder in Rotating Compression
Authors: Weng Sen Chyi , Kuo Bor Lih , Tzou Gow Yi
Published: September 2015

The objective of this study is to establish three analytical models including the Upper Bound Method (UBM), the Slab Method (SM), and the Finite Element Method (FEM) for the rotating compression of bonded double-layer clad cylinder. As for the prediction of bulging deformation, apart from the FEM simulation, the other hybrid method can combine the UBM with an elliptical curve-fitting method for predicting compression force and bulging deformation. Meanwhile, the compression force and bulging deformation between analyses and experiment are compared to validate the correctness of the models. These models established can be offered to the reference of metal forming industries.
Adoption of HACCP food safety metasystem by tea and dairy processing firms in Sri Lanka: an empirical assessment on incentives for firms to act
Authors: Jayasinghe-Mudalige U. K. , Ikram S. M. M. , Udugama J. M. M. , Edirisinghe J. C. , Herath H. M. T. K.
Published: September 2015

The impact of individual market-based, regulatory and liability incentives on food safety responsive behaviour of firms is assessed using the Sri Lankan tea and dairy processing firms’ motivation to adopt Hazard Analysis & Critical Control Points (HACCP) food safety metasystem as the case. A series of face-to-face interviews were conducted with the manager responsible for food quality assurance in the firm, supported by a validated structured questionnaire and a site inspection, between April and September 2010 to collect data from tea (n=32) and dairy (n=34) processing firms operate in six provinces. A comprehensive Structural Equation Model was developed using the “Analysis of Moment Structures” statistical package to elicit the effect of nine individual incentives on firms‟ decision to adopt HACCP. Further an Incentive-Related Index reflecting the strength of each incentive was derived. The outcome of analysis suggests that “Reputation” and “Anticipate government regulation” possess the greatest impact on a firm’s food safety behaviour along with “Sales and Revenue” for tea and “Liability Laws” for the dairy processing sectors. It also implies that larger firms have a greater tenacity to adopt HACCP than smaller firms and tea sector is more likely to adopt this metasystem voluntarily than the dairy sector. This creates the need for policy makers to recognize the importance of market-based incentives and the close interplay and interactions of which with regulatory incentives, and in turn, importance of development of a properly functioning regulatory and liability system and a steadfast system to inject market-based motivators such as brand equity to promote adoption of HACCP among firms.The Journal of Agricultural Sciences, vol.10, No 3, September 2015, pp.177-191
Paleozoic geology of Wolfe Island, Bath, Sydenham and Gananoque map areas, Ontario
Authors: Liberty B A
Published: September 2015

The lower Paleozoic stratigraphy of an area in southeastern Ontario is described using the lithological nomenclature proposed previously by the author.
Geological notes on Aquatuk River map area, Ontario with emphasis on the Precambrian Rocks
Authors: Bostock H H
Published: September 2015

Archean granodiorite gneiss within a complex of granitic rocks are the oldest rocks in the area. Above these are rocks of Aphebian age - a siliceous carbonate unit disconformably overlain by a succession of ironformation, greywacke and siltstone. Diabase and
gabbro sills intrude the sedimentary rocks. Drift cover is widespread and extensive us e was made of aeromagnetic data to extend geological observations. No economic mineral d e posits were noted but there are indications of iron-formation and copper.
Geological comparison between east European and Canadian uranium deposits
Authors: Ruzicka V
Published: September 2015

The comparison of some geological features between the Canadian and East European (including the Asian part of U. S.S. R.) uranium deposits and types of deposits show many similarities, e.g. the deposits were formed during analogous mineragenetic processes, they
were related to certain orogenies and to certain phases of the tectonic cycles in specific geological conditions .
The distribution of the endogenetic uranium deposits is structurally controlled by regional deep fault and fracture systems, along which the tectonic movements were repeated several times. The intersections and ramifications of such systems are the favourable loci for uranium deposits, if other
favourable conditions are pre sent.
Favourable lithological features of sedimentary rocks within the uranium-bearing areas and provinces influenced the localization of uranium mineralization in the sedimentary syngenetic deposits or in the epigenetic deposits in sediments.
The syngeneic differentiation and accumulation of uranium caused the primary enrichment of rocks with uranium.
Weathering processes, which affected the uranium enriched rocks, separated the uranium compounds and introduced them either as a part of weathered material into the detritus or into the hydrological cycle.
Metamorphic processes an ls o participated in differentiation and accumulation of uranium.
Comparison of some geological features of uranium deposits from different geological environments as well as the hitherto published classifications of uranium deposits allowed a new classification of uranium deposits into several syngeneic, metamorphic and epigenetic groups and various types within
them.
Geology of Belleoram map-area, Newfoundland (1m/11)
Authors: Williams H
Published: September 2015

Belleoram map-area, on the south coast of Newfoundland, comprises an assemblage of Late Precambrian and lower to middle Paleozoic sedimentary and volcanic rocks cut by several granitic intrusions and by basic and silicic dykes which are the youngest consolidated
rocks in the area. Molybdenite deposits are present near Recontre Lake and fluorite o c curs in a few widely separated localities.
Caracterización de las estructuras diamétricas de los bosques naturales del noroeste de Durango, México
Authors: Corral-Rivas Sacramento , Álvarez-González Juan G. , Corral-Rivas José J. , López-Sánchez Carlos A.
Published: September 2015

La distribución diamétrica de 44 parcelas permanentes (coníferas y latifoliadas) se modeló a través de las funciones de densidad de probabilidad (FDP) Weibull de tres parámetros y SB Johnson, en el municipio de Santiago Papasquiaro, Durango. Para ello, se emplearon cuatro métodos de ajuste de parámetros: máxima verosimilitud, momentos, regresión no lineal por mínimos cuadrados ordinarios y percentiles. El mejor método de ajuste para las especies de coníferas y latifoliadas fue el método de momentos. En el modelado de la FDP Weibull se asumió que el parámetro de localización (e) corresponde al diámetro mínimo inventariable de la distribución. El parámetro de escala (λ) se modeló con el procedimiento de predicción de parámetros a través de un modelo de regresión lineal simple que relaciona γ con el diámetro cuadrático medio y la altura dominante del rodal. Finalmente, el parámetro de forma (γ) fue recuperado indirectamente por el método de momentos a través de la predicción del diámetro medio del rodal. De acuerdo con la prueba de Kolmogorov-Smirnov (P = 0.05), 71 % de las parcelas del grupo de especies de coníferas y 68 % de las parcelas del grupo de latifoliadas provienen de una población que sigue la función de distribución ajustada.
Modelos no lineales de efectos mixtos para predecir relaciones entre altura total y diámetro de árboles de haya oriental en Kestel, Turquía
Authors: Ercanli Ilker
Published: September 2015

Modelos estadísticos no lineales de efectos mixtos se utilizaron para predecir las relaciones entre la altura total y el diámetro a la altura del pecho (DAP) en rodales de árboles de haya oriental (Fagus orientalis Lipsky) en Kestel, Bursa, al noroeste de Turquía. Un total de 124 parcelas de muestreo se seleccionaron para representar la calidad de sitio, edad y densidad de rodal. Nueve modelos no lineales generalizados de altura-diámetro se ajustaron y evaluaron con base en el criterio de información de Akaike, el criterio de información bayesiana de Schwarz, la raíz del cuadrado medio del error (RMSE por sus siglas en inglés), el sesgo absoluto y el coeficiente de determinación ajustado (R2adj). El modelo no lineal de Schnute se seleccionó como el mejor modelo predictivo. El modelo de altura-diámetro basado en el enfoque del modelo no lineal de efectos mixtos representó 90.6 % de la varianza total en las relaciones de altura-diámetro y los valores de RMSE de 1.48 m. Varios escenarios que difieren en el diseño de muestreo y el tamaño de los árboles submuestra, seleccionados del conjunto de datos de validación, revelaron que cuatro árboles submuestra seleccionados al azar produjeron los mejores resultados predictivos (reducción de 43.3 % de la suma de errores cuadrados, 98.4 % del sesgo absoluto y 36.9 % de la RMSE) en relación con las predicciones de los efectos fijos.
The Evolution of Global Politics
Authors: Moldeski George
Published: September 2015

The rise and decline of world powers has attracted much scholarly attention in recent years. The theory of long cycles answers parsimoniously the question: why, in the past half millenium, have Portugal, the Dutch Republic, Britain (twice), and the United States risen to global leadership while others have failed to do so? This accounts for the success, or failure, of individual states, but to explain the entire sequence we need to employ an evolutionary paradigm that proposes that each of these long cycles is one mechanism in a spectrum of global evolutionary processes. The leadership succession is an intermediate stage in the evolution og global politics, whose next likely major phase, reaching a high point later in the 21st century, will be the gradual absorption of the informal role of global leadership, when embedded in a democratic community, into a network of more formal positions within an emerging global organization of a federalist character. The conditions of that process can now be specified.
Introduction to the Thematic Articles: Hegemonic Rivalry: Past and Future
Authors: Chase-Dunn Christopher
Published: September 2015

The international political economy has experienced a sequence of economic booms and busts, as well as periods of relative peace and world war, for the last 500 years. Capitalist industrialization has expanded productivity and integrated everlarger numbers of people into a single global economy in waves of industrialization and market expansion. These waves have been repeatedly punctuated by world wars. The current level of economic integration, and other factors, cause many students of the global system to argue that the periodic outbreak of world wars is over. This book focuses on both long run trends and recent developments in the modern world-system, and their implications for the future of humankind. Will the cycles of boom bust, peace and war continue? Or have long terms trends (or recent changes) altered the nature of thesystem sufficiently such that these oscillations will cease, or take a less destructive form?
TOWARD A PRAXIS OF WORLD INTEGRATION
Authors: Wagar W. Warren
Published: September 2015

The theme of the 90th annual meeting of theAmerican Sociological Association is "Community of Communities: Shaping Our Future." The program asks three leading questions: must the plurality of community ties now identifying themselves throughout the world along ethnic, racial, gender, religious, and other lines ... be blended away to ensure civility? Or, can we have a society of vying tribes without shared bonds and values? Or can there be a shared frameworkin which many colorful elements find a new place ... [in] a "community of communities?"
Comments on Warren Wagar's "Toward a Praxis of World Integration"
Authors: Moghadam Val
Published: September 2015

There is much in Warren Wagar's paper with which I agree. He questions the viability of a multiculturalist politics, draws our attention to the problematical nature of many movements that world-system theory would deem "antisystemic," and rejects "a purely relativistic multiculturalism." Similarly, I have addressed the deficiencies of political cultural movements based on various claims of identity (sec Moghadam, 1994), argued against a "mindless cultural relativism" (Moghadam, 1989), and described a secular intellectualism in the Middle East (Moghadam, 1990). I would agree with Wagar that the "ideology of a Left Enlightenment" holds the best promise for the future--but up to a point. I would also be much in favour of a World Party-but with some qualifications. There are gaps in Wagar's scenario. His rejection of all contemporary social movements as equally incapable of helping to effect a progressive trans formative politics (global democratic socialism) is both politically and methodologically flawed.
PERIPHERY/CORE RELATIONS IN THE INCA EMPIRE CARROTS AND STICKS IN AN ANDEAN WORLD SYSTEM
Authors: Kuznar Lawrence A.
Published: September 2015

The Inca Empire exhibited labor exploitation and the rational extraction of resources from peripheral polities by a core polity. These characteristics fit the general definition of a world empire, although core/periphery relations were diverse. The nature of core/periphery relations depended on several attributes of the conquered polity including population size, political power, natural resources, and distance from the Inca core at Cuzco. A dynamic picture of core/periphery relations emerges as the outcome of Inca demands for labor and raw materials, and peripheral peoples' desire for control over their autonomy while seeking benefits from the Inca state.
Discovering the Envionment
Authors: Bergesen Albert , Parisi Laura
Published: September 2015

This special issue of JWSR presents new research on the environment from a distinctly world-system perspective. World-system studies have recently discovered the environment. The turn toward the environment in any number of disciplines has resulted in the greening of this and that area of study. Now it is world-system studies turn. It is a little late; but better late than never. Actually, environmental and world-system studies have a great deal to offer each other. For environmental studies the focus upon the world economy as a whole makes a great deal of sense. Industrial plants in one country, or one region of the world may generate acid rain, but it can fall on other countries. The environment knows no political borders, hence a focus upon the world economy rather than the French, American or Brazilian economy, makes more sense. It is also the case that looking for systemic effects of different types of economics and political systems on the environment should follow the general direction of political/economic theory, which has been ratcheting its level of analysis ever upward to include more and more parts of the world as components of a singular world system. In effect, if we now believe that the most primal locus of economic and political process resides at the level of global interactions then to study the effects of political/economic processes upon the environment means studying the dynamics of the world-system. It is somewhat inevitable.
Review of "LEADING SECTORS AND WORLD POWERS: THE COEVOLUTION OF GLOBAL POLITICS AND ECONOMICS" by George Modelsk:i and William R. Thompson
Authors: Boswell Terry
Published: September 2015

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Ecosystems and World Systems: Accumulation as anEcological Process
Authors: Hornborg Alf
Published: September 2015

World-systemic processes of capital accumulation are inextricably intermeshed with ecology. Not only do they have obvious repercussions on landscapes and ecosystems ( e.g., erosion, deforestation), but they are also fundamentally dependent on ecological aspects such as topsoil, forests, or minerals. The analytical disjunction of ecology and economics is a persistent feature of modern science. The minority of researchers who have seriously tried to integrate them in a common theoretical framework (cf. Martinez-Alier 1987) have run into major, conceptual difficulties. This paper addresses some of the issues raised in an attempt to ground the notion of capital accumulation in the physical realities of ecology and thermodynamics.
Organizing a Global Labor Movement from Top and Bottom
Authors: Nash Jr. Bradley
Published: September 2015

While the prospects for a global labor movement are ripe, working people and their supporters may fail to take full advantage of this historical opening. A potential barrier is the existence of a strategic myopia when it comes to the role of preexisting labor organizations at the national and international levels. Specifically, these higher-tier institutions are often viewed by labor activists and the rank-and-file as inherently autocratic and imperialistic, and are thus deemed to have little value for efforts at fostering global labor solidarity. A consequence is that many in the labor movement concentrate their energies solely at a local or community level, with the idea that it is only here that true progressive change can result. In terms of broader solidarity and resistance, it is felt that cross-regional and cross-national linkages will eventually develop to expand the struggle to a truly global level. In effect, it is presumed by many that a global labor movement will, and in fact must, be built strictly from the "bottom-up" ( e.g. Brecher and Costello, 1994).
Power Polarity In The Far Eastern World System, 1025 BCAD 1850: Narrative And 25-Year Interval Data
Authors: Wikinson David
Published: September 2015

Power polarity in the Far Eastern macro-social system is assessed at twenty five year intervals 1050 BC-AD 1850. Consistent with analysis of Indic system data, there is no support for the theory that the normal world-system power configuration is multipolar, hegemonic, or universal-empire. Instead several different "stability epochs" are discerned.
The Global Market
Authors: Arrighi Giovanni
Published: September 2015

By most accounts, the twentieth century has been one of the most revo-lutionary periods in world history, not just politically but economically and socially as well. In one key respect, however, the end of the century resembles its beginning. The entire world appears to us, as it did a century ago, to be integrated in a single market in which states are said to have no choice but compete intensely with one another for increasingly mobile capi-tal.
GLOBAL KEYNESIANISM AND BEYOND
Authors: Kohler Gernot
Published: September 2015

Something like "global Keynesianism" or "transnational socialism" has been mentioned as a desirable alternative to global neoliberalism (Redmond 1997). However, a definition of this kind of global Keynesianism is hard to find. Many leftists tend to associate Keynesianism with corporate power. However, there are also numerous other leftists who view this differently. For example, a member of parliament for the German Green Party stated in a recent interview that "a reformist party today has to be a left-Keynesian party which contradicts the logic of capital" (Ebermann 1998). A number of scholars from several countries, including Canada, pursue post-Keynesian-ism, in the sense of left-Keynesian economics (e.g., Seccareccia 1991). How-ever, available left-Keynesian literature, as I see it, is lacking a world-system perspective. I am trying in this article to synthesize the two perspectives-namely, left-Keynesianism and world-system theory, leading to a perspective of global left-Keynesianism. This leftist global Keynesianism can, perhaps, be described as an approach to economics which emphasizes responsible public management of economic problems in a world-system context. Common themes in global Keynesianism include the importance of public management, democratic politics, the mixed economy, global income distribution, the management of global demand, investment and money, ecological sustainability and the importance of multiple levels of public management-local, national, regional and global.
Review of "The Ephemeral Civilization: Exploding the Myth of Social Evolution," by Graeme Donald Snooks
Authors: Sanderson Stephen K.
Published: September 2015

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Globalization and the Cultural Effects of the World Economy in a Semiperiphery: The Emergence of African Indigenous Churches in South Africa
Authors: Venter Dawid
Published: September 2015

Applied to religious phenomena, globalization theories which explain the emergence of an interdependent world-system provide the largest possible macro-framework against which to view both societal and individual interactions. While both individual decisions and national forces are important and legitimate concerns, consideration of how these relate to globalization present an important additional analytical level which should not be ignored. Such macro-structural explanations are usually neglected in accounts of the rise of African Indigenous Churches (AlCs), due to an affinity among AIC specialists for a focus on micro-variables. Where macro-variables are incorporated in analyses (e.g. Barrett 1968, Dancel 1987), these tend to focus on the effects of colonialism within the national sphere.
Globalization and the Permanent Process of Primitive Accumulation: The Example of the MAI, the Multilateral Agreement on Investment
Authors: Von Werlhof Claudia
Published: September 2015

At the 1985 annual meeting of the American Sociological Association in Washington, I had, at the invitation of Immanuel Wallerstein, the opportunity to present my theses on the subject Why Peasants and Housewives do not Disappear in the Capitalist World System (Werlhof 1985). Some years later, in an article with the same title, I dealt with the basic thesis of the presentation at ASA for the entire process of accumulation, namely the permanent relevance of processes of so-called primitive accumulation(1991). I am glad to come back to the subject in my contribution to thiscommemorative volume, though I shall deal with it in a new context: theso-called globalization debate.
Pouvoir, autorité et convention dobéissance
Authors: Dockès Pierre
Published: September 2015

Le pouvoir est-il un concept mal dé? ni, polymorphe (voire amorphe [Weber 1978:53]) et, ? nalement, "un concept décevant" (March 1966: 70; 1988:6; Williamson 1985:237; 1996:39, 238-9)? Il n'est, en effet, que rarement pris en compte centralement par la théorie économique n'étant pas considéré comme un concept général susceptible de présenter des formes diverses. Il y a, certes, l'exception du pouvoir de marché ou du pouvoir de négociation. Mais peut-on, en économie, se contenter de cette forme de pouvoir, négliger d'autres aspects du pouvoir économique et renvoyer toute forme de coercition aux spécialistes des sciences politiques dans la mesure où l'État aurait obtenu le monopole de la violence légitime?
A Method for Studying Social Actors
Authors: Touraine Alaine
Published: September 2015

So little agreement exists on what constitutes sociology that it seems impossible to de?ne its speci?c methods. We can however proceed through a series of eliminations. Light has been shed on many types of social behavior as economic studies have taken more interest in issues of social strati?cation and mobility or in consumer behavior, and as they increasingly incorporate elaborate quantitative analysis into this type of data. Correlations between social statuses and social behavior tell us about the logic of the system, yet not about that of the actors. Hence, we must imagine other methods in order to reach the actor as an autonomous being, as an agent of transformation of his environment and of his own situation, as a creator of imaginary worlds, as capable of referring to absolute values or of being involved in love relations.
Commentary
Authors: Moore Jason W.
Published: September 2015

Alf Hornborg says many useful things in his article, Ecosystems and World Systems: Accumulation as an Ecological Process. His effort to ground the notion of capital accumulation in the physical realities of ecology and thermodynamics is a much-needed corrective to nature-blind studies of capitalism. At a more paradigmatic level, his dismay at the analytical disjuncture of ecology and economics in modern social science is right on target (1998: 169). Yet, despite the articles laudable intent, Hornborg goes astray by imputing to Marx a focus on labor that excludes the physical realities of labor reproduction, world trade, or imperialism. Hornborg is right to urge a synthesis of ecological and economic studies, but wrong in his call to supplement the labor theory of value with a resource-orientedconcept of exploitation (1998: 173). Even if Marx did not grapple with a global ecological crisis of contemporary standards, he was remarkably sensitive to ecological processes as they shaped, and were shaped by, capital accumulation; indeed, Marx studied intensively the works of the leading soil chemists of his day, foremost among them Justus von Liebig. Particularly in the ?rst and third volumes of Capital, Marx provides a compelling framework for comprehending the nature-society dialectic under capitalism.
Timbuktu: A Lesson in Underdevelopment
Authors: Pelizzo Ricardo
Published: September 2015

The present paper is a study of development which di?ers from other such studies in two major respects. First, rather than analyzing what factors have promoted the development of a previously underdeveloped area, I will try to assess what factors may lead to the decline of a previously highly developed area. In doing so, I will try to show that development is fragile and precarious, because it depends on both domestic/institutional and international/economic factors and conditions.
World Trade Networks from 1928 to 1938
Authors: Su Tieting
Published: September 2015

Paul Einzig, a London Financial journalist, after a four week visit to New York, observed: "With few exceptions they [Financiers] were convinced that the period of prosperity then being experienced was everlasting,...Although just then there was a minor slump in Wall Street...everybody I met was convinced that the boom would be resumed..." (London Financial News 4/9/26, cited in Davis, 1975:132) This would have been an accurate portrayal of the spring of 2000. But this observation was made in spring 1926.
Expansions and Contractions: World-Historical Change And The Western Sudan World-System (1200/1000 B.C.  1200/1250 A.D.)
Authors: Kea Ray A.
Published: September 2015

Archaeological evidence from West Africa suggests a process of relatively autochthonous state formation involving unusual forms of urbanization, horse warrior aristocracies, craft status groups and commodified trade networks organized by merchant-scholars. The emergenceof a West African state system played a generative role in the world-historical development of universal rationality in Western Afroeurasia, as well as in the intensification of empire formation and monetary integration in the formative era before the rise of European hegemony.
Introduction to Special JWSR Mini-Symposium: Peter Gowan & The "Capitalist World Empire"
Authors: Reifer Thomas E.
Published: September 2015

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