Line Kinematics for Whole-Arm Manipulation

A Whole-Arm Manipulator uses every surface to both sense and interact with the environment. To facilitate the analysis and control of a Whole-Arm Manipulator, line geometry is used to describe the location and trajectory of the links. Applications of line kinematics are described and implemented on the MIT Whole-Arm Manipulator (WAM-1).

The Three-Dimensional Interpretation of a Class of Simple Line-Drawings

We provide a theory of the three-dimensional interpretation of a class of line-drawings called p-images, which are interpreted by the human vision system as parallelepipeds ("boxes"). Despite their simplicity, p-images raise a number of interesting vision questions: *Why are p-images seen as three-dimensional objects? Why not just as flatimages? *What are the dimensions and pose of the perceived objects? *Why are some p-images interpreted as rectangular boxes, while others are seen as skewed, even though there is no obvious distinction between the images? *When p-images are rotated in three dimensions, why are the image-sequences perceived as distorting objects---even though structure-from-motion would predict that rigid objects would be seen? *Why are some three-dimensional parallelepipeds seen as radically different when viewed from different viewpoints? We show that these and related questions can be answered with the help of a single mathematical result and an associated perceptual principle. An interesting special case arises when there are right angles in the p-image. This case represents a singularity in the equations and is mystifying from the vision point of view. It would seem that (at least in this case) the vision system does not follow the ordinary rules of geometry but operates in accordance with other (and as yet unknown) principles.

On-line concentration of proteins in pressurized capillary electrochromatography coupled with electrospray ionization-mass spectrometry

Pressurized capillary electrochromatography (pCEC) and electrospray ionization-mass spectrometry (ESI-MS) have been hyphenated for protein analysis. Taken cytochrome c, lysozyme, and insulin as samples, the limits of detection (LODs) for absolute concentrations are 10(-11) mol (signal-to-noise ratio S/N = 3) with relative standard deviations (RSDs) of retention time and peak area, respectively, of less than 1.7% and 4.8%. In order to improve the detection sensitivity, on-line concentration by field-enhanced sample-stacking effect and chromatographic zone-sharpening effect has been developed, and parameters affecting separation and detection, such as pH and electrolyte concentration in the mobile phase, separation voltage, as well as enrichment voltage and time, have been studied systematically. Under the optimized conditions, the LODs of the three proteins could be decreased up to 100-fold. In addition, the feasibility of such techniques has been further demonstrated by the analysis of modified insulins at a concentration of 20 mu g/mL.

On-line concentration of peptides and proteins with the hyphenation of polymer monolithic immobilized metal affinity chromatography and capillary electrophoresis

An iminodiacetic acid (IDA)-type adsorbent is prepared at the one end of a capillary by covalently bonding IDA to the monolithic rods of macroporous poly(glycidyl methacrylate-co-ethylene dimethacrylate). Cu(II) is later introduced to the support via the interaction with IDA. By this means, polymer monolithic immobilized metal affinity chromatography (IMAC) materials are prepared. With such a column, IMAC for on-line concentration and capillary electrophoresis (CE) for the subsequent analysis are hyphenated for the analysis of peptides and proteins. The reproducibility of such a column has been proved good with relative standard deviations (RSDs) of dead time of less than 5% for injection-to-injection and 12% for column-to-column (n = 3). Through application on the analysis of standard peptides and real protein samples, such a technique has shown promising in proteome study.

AINFO versão 5.0: manual on-line.

Introdução; Conhecendo o AINFO; Gerenciador de Dados e outros procedimentos especiais; Administrando o AINFO; Atualizando as bases de dados; Sobre as bases de dados; Imprimindo relatórios; Sobre o SIR - Recuperação de Informação; Descrição dos campos; Descrição dos relatórios; Anexos.

Geração on-line de mapas agrometeorológicos.

Poucos são os sistemas de monitoramento agrometeorológico que organizam os dados coletados por estações meteorológicas, que realizam os cálculos de determinadas variáveis (p.e. dias sem chuva, temperatura máxima, evapotranspiração, etc.) e que geram mapas temáticos como uma das formas de apresentação dos dados. Objetivando preencher esta lacuna e implantar um sistema de monitoramento agrometeorológico em âmbito Nacional, foi criado o Agritempo, resultado de uma parceria entre a Embrapa Informática Agropecuária e o Centro de Pesquisas Meteorológicas e Climáticas aplicadas à Agricultura (Cepagri/Unicamp) (Embrapa Informática agropecuária, 2003).

HMLH1 gene mutation in gastric cancer patients and their kindred

AIM: To study the status of hMLH1 gene point mutations of gastric cancer kindreds and gastric cancer patients from northern China, and to find out gene mutation status in the population susceptible to gastric cancer.

AINFO - versão 5.0: manual on-line.

O AINFO é um sistema para automação de bibliotecas e recuperação de informação, desenvolvimento em padrão Windows, com arquitetura cliente/servidor baseada no sistema gerenciador de banco de dados relacional Firebird. Pemite o gerenciamento de informação técnico-científica, integrando bases de dados documentais, cadastrais e processos bibliográficos através do armazenamento, atualização, indexação e recuperação de informação de forma simples e rápida, utilizando não apenas recursos de um istema gerenciador de banco de dados, como controle de concorrência e manutenção de integridade das bases de dados, mas também oferecendo facilidades de recuperação de informação textual não disponíveis nesses sistemas.

LED (660 nm) and laser (670 nm) use on skin flap viability: angiogenesis and mast cells on transition line

Skin flap procedures are commonly used in plastic surgery. Failures can follow, leading to the necrosis of the flap. Therefore, many studies use LLLT to improve flap viability. Currently, the LED has been introduced as an alternative to LLLT. the objective of this study was to evaluate the effect of LLLT and LED on the viability of random skin flaps in rats. Forty-eight rats were divided into four groups, and a random skin flap (10 x 4 cm) was performed in all animals. Group 1 was the sham group; group 2 was submitted to LLLT 660 nm, 0.14 J; group 3 with LED 630 nm, 2.49 J, and group 4 with LLLT 660 nm, with 2.49 J. Irradiation was applied after surgery and repeated on the four subsequent days. On the 7th postoperative day, the percentage of flap necrosis was calculated and skin samples were collected from the viable area and from the transition line of the flap to evaluate blood vessels and mast cells. the percentage of necrosis was significantly lower in groups 3 and 4 compared to groups 1 and 2. Concerning blood vessels and mast cell numbers, only the animals in group 3 showed significant increase compared to group 1 in the skin sample of the transition line. LED and LLLT with the same total energies were effective in increasing viability of random skin flaps. LED was more effective in increasing the number of mast cells and blood vessels in the transition line of random skin flaps.

Evolution feature oriented model driven product line engineering approach for synergistic and dynamic service evolution in Clouds: four kinds of schema.

The proposed research will focus on developing a novel approach to solve Software Service Evolution problems in Computing Clouds. The approach will support dynamic evolution of the software service in clouds via a set of discovered evolution patterns. An initial survey informed us that such an approach does not exist yet and is in urgent need. Evolution Requirement can be classified into evolution features; researchers can describe the whole requirement by using evolution feature typology, the typology will define the relation and dependency between each features. After the evolution feature typology has been constructed, evolution model will be created to make the evolution more specific. Aspect oriented approach can be used for enhance evolution feature-model modularity. Aspect template code generation technique will be used for model transformation in the end. Product Line Engineering contains all the essential components for driving the whole evolution process.

Cursos semipresenciales y telepresenciales, con soporte on-line, de adaptación al grado de ingeniería de edificación para arquitectos técnicos

Sin índice de impacto (2010)