Performance indices for robotic manipulators: a review of the state of the art

The performance indices are important tools for motion planning and design of robot manipulators. In this paper we present a collection of some of the performance indices that have generated interest in the robotics community. These indices are four different types: kinetostatic performance indices, dynamic performance indices, indices of joint limits, and finally global performance indices. In addition, we review the strategies that have been proposed to solve the problems that occur when the units of the Jacobian matrix elements are not homogeneous. At the end of this paper, we propose a set of global performance indices that can be useful in the design of robot manipulators.

Indices de desempeño de robots manipuladores: una revisión del estado del arte

Los índices de desempeño son importantes herramientas para la planificación de movimientos y el diseño de robots manipuladores. En este trabajo se presenta una colección de algunos de los índices de desempeño que mayor interés han generado en la comunidad dedicada a la robótica. Se presentan índices de desempeño cinetostático, dinámico, de lìmites articulares, e índices definidos sobre el espacio de trabajo. Además, se realiza una revisión sobre las estrategias que se han propuesto para solventar los problemas que aparecen cuando las unidades de los elementos de la matriz Jacobiana no son homogéneas. Al final de este trabajo, proponemos una serie índices de desempeño globales que pueden resultar útiles en el diseño de robots manipuladores.

Hybrid analysis of nonlinear circuits: DAE models with indices zero and one

We extend in this paper some previous results concerning the differential-algebraic index of hybrid models of electrical and electronic circuits. Specifically, we present a comprehensive index characterization which holds without passivity requirements, in contrast to previous approaches, and which applies to nonlinear circuits composed of uncoupled, one-port devices. The index conditions, which are stated in terms of the forest structure of certain digraph minors, do not depend on the specific tree chosen in the formulation of the hybrid equations. Additionally, we show how to include memristors in hybrid circuit models; in this direction, we extend the index analysis to circuits including active memristors, which have been recently used in the design of nonlinear oscillators and chaotic circuits. We also discuss the extension of these results to circuits with controlled sources, making our framework of interest in the analysis of circuits with transistors, amplifiers, and other multiterminal devices.

Dietary and lifestyle quality indices with/without physical activity and markers of insulin resistance in European adolescents: the HELENA study

Resistencia a la insulina en adolescentes

Genetic algorithms and Gaussian Bayesian networks to uncover the predictive core set of bibliometric indices

The diversity of bibliometric indices today poses the challenge of exploiting the relationships among them. Our research uncovers the best core set of relevant indices for predicting other bibliometric indices. An added difficulty is to select the role of each variable, that is, which bibliometric indices are predictive variables and which are response variables. This results in a novel multioutput regression problem where the role of each variable (predictor or response) is unknown beforehand. We use Gaussian Bayesian networks to solve the this problem and discover multivariate relationships among bibliometric indices. These networks are learnt by a genetic algorithm that looks for the optimal models that best predict bibliometric data. Results show that the optimal induced Gaussian Bayesian networks corroborate previous relationships between several indices, but also suggest new, previously unreported interactions. An extended analysis of the best model illustrates that a set of 12 bibliometric indices can be accurately predicted using only a smaller predictive core subset composed of citations, g-index, q2-index, and hr-index. This research is performed using bibliometric data on Spanish full professors associated with the computer science area.

Quantitative analysis of morphological changes in yeast colonies growing on solid medium: the eccentricity and Fourier indices

The colony shape of four yeast species growing on agar medium wasmeasured for 116 days by image analysis. Initially, all the colonies are circular, with regular edges. The loss of circularity can be quantitatively estimated by the eccentricity index, Ei, calculated as the ratio between their orthogonal vertical and horizontal diameters. Ei can increase from 1 (complete circularity) to a maximum of 1.17–1.30, depending on the species. One colony inhibits its neighbour only when it has reached a threshold area. Then, Ei of the inhibited colony increases proportionally to the area of the inhibitory colony. The initial distance between colonies affects those threshold values but not the proportionality, Ei/area; this inhibition affects the shape but not the total surface of the colony. The appearance of irregularities in the edges is associated, in all the species, not with age but with nutrient exhaustion. The edge irregularity can be quantified by the Fourier index, Fi, calculated by the minimum number of Fourier coefficients that are needed to describe the colony contour with 99% fitness. An ad hoc function has been developed in Matlab v. 7.0 to automate the computation of the Fourier coefficients. In young colonies, Fi has a value between 2 (circumference) and 3 (ellipse). These values are maintained in mature colonies of Debaryomyces, but can reach values up to 14 in Saccharomyces.All the species studied showed the inhibition of growth in facing colony edges, but only three species showed edge irregularities associated with substrate exhaustion. Copyright © 2014 John Wiley & Sons, Ltd.

Application of Vegetation Indices to Estimate Acorn Production at Iberian

The Iberian pig valued natural resources of the pasture when fattened in mountain. The variability of acorn production is not contained in any line of Spanish agricultural insurance. However, the production of arable pasture is covered by line insurance number 133 for loss of pasture compensation. This scenario is only contemplated for breeding cows and brave bulls, sheep, goats and horses, although pigs are not included. This insurance is established by monitoring ten-day composites Normalized Difference Vegetation Index (NDVI) measured by satellite over treeless pastures, using MODIS TERRA satellite. The aim of this work is to check if we can use a satellite vegetation index to estimate the production of acorns.