A contribution for developing more efficient dynamic modelling algorithms of parallel robots

Parallel kinematic structures are considered very adequate architectures for positioning and orienti ng the tools of robotic mechanisms. However, developing dynamic models for this kind of systems is sometimes a difficult task. In fact, the direct application of traditional methods of robotics, for modelling and analysing such systems, usually does not lead to efficient and systematic algorithms. This work addre sses this issue: to present a modular approach to generate the dynamic model and through some convenient modifications, how we can make these methods more applicable to parallel structures as well. Kane’s formulati on to obtain the dynamic equations is shown to be one of the easiest ways to deal with redundant coordinates and kinematic constraints, so that a suitable c hoice of a set of coordinates allows the remaining of the modelling procedure to be computer aided. The advantages of this approach are discussed in the modelling of a 3-dof parallel asymmetric mechanisms.

Two new species of Tornidae (Caenogastropoda, Rissooidea) from Espirito Santo, Brazil

Two new species of shallow water Tornidae are found in Espirito Santo state, Brazil, formally described herein. They belong to a complex group of tiny gastropods, in such the taxonomy is very confused. Cyclostremiscus mohicanus sp. n. is characterized by three well-developed spiral, equidistant carinas, working as base of three series of tall, aligned periostracal rods. Episcinia itanhuna sp. n. has as single sculpture a series of pustules in periphery, but the periostracum bears three series of peripheral fringes with irregular rods. The new species are compared with the allies, showing a close relation with Caribbean fauna, but possessing worthy differences. These similarities have raised misidentifications.

Genetic variation of the Ananas genus with ornamental potential

Brazil is one of the main centers of origin of pineapple species presenting the largest genetic variation of the Ananas genus. Embrapa Cassava and Fruits is a Brazilian Agricultural Research Corporation and has an ex-situ collection of 678 accessions of the Ananas genus and some other Bromeliaceae. The use of ornamental pineapple has increased in the last years demanding new varieties, mainly for the external market, due to the originality and colors of its tiny fruits. The main aim of the present study was describing accessions from the pineapple gene bank in order to quantify their genetic variation and identify possible progenitors to be used in breeding programs of ornamental pineapples. Eighty-nine accessions of Ananas comosus var. comosus, A. comosus var. bracteatus (Lindl.) Coppens et Leal, A. comosus var. ananassoides (Baker) Coppens et Leal, A. comosus var. erectifolius (L. B. Smith) Coppens et Leal, A. comosus var. parguasensis (Camargo et L. B. Smith) Coppens et Leal and A. macrodontes Morren were evaluated with 25 morphological descriptors. According to the results, the evaluated accessions were separated into the following categories: landscape plants, cut flower, potted plants, minifruits, foliage and hedge. The genetic distance among accessions was determined using the combined qualitative and quantitative data by the Gower algorithm. The pre-selected accessions presented genetic variation and ornamental potential for different uses. The multicategory analysis formed seven clusters through a classification method based on the average Euclidean distance between all accessions using the cut-point of genetic dissimilarity (D dg = 0.35). The genotypes A. comosus var. erectifolius were selected to be used as landscape plants, cut flower, minifruits and potted plants. Accessions of A. comosus var. bracteatus and A. macrodontes were selected as landscape plants and hedge. The highest variation was observed in A. comosus var. ananassoides genotypes, which presented high potential for use as cut flowers.

Tap-Off Power From the Overhead Shield Wires of an HV Transmission Line

In recent years, there was an increase of ancillary service loads, such as signaling systems, inspection robots, surveillance cameras, and other monitoring devices distributed along high-voltage transmission lines which require low-power dc voltage supplies. This paper investigates the use of the induced voltage in the shield wires of an overhead 525 kV transmission line as a primary power source. Since phase current variations throughout the day affect the induced voltage in the overhead ground wire, a step-down dc-dc converter is used after rectification of the ac voltage to provide a regulated dc output voltage. The initial encouraging results obtained indicate that this form of power supply can be a feasible and cost-effective alternative for feeding small ancillary service loads. The simulation results are validated by field measurements as well as the installation of a 200 W voltage stabilization system prototype.

In-Flight Collision Avoidance Controller Based Only on OS4 Embedded Sensors

The major goal of this research was the development and implementation of a control system able to avoid collisions during the flight for a mini-quadrotor helicopter, based only on its embedded sensors without changing the environment. However, it is important to highlight that the design aspects must be seriously considered in order to overcome hardware limitations and achieve control simplification. The controllers of a UAV (Unmanned Aerial Vehicle) robot deal with highly unstable dynamics and strong axes coupling. Furthermore, any additional embedded sensor increases the robot total weight and therefore, decreases its operating time. The best balance between embedded electronics and robot operating time is desired. This paper focuses not only on the development and implementation of a collision avoidance controller for a mini-robotic helicopter using only its embedded sensors, but also on the mathematical model that was essential for the controller developing phases. Based on this model we carried out the development of a simulation tool based on MatLab/Simulink that was fundamental for setting the controllers' parameters. This tool allowed us to simulate and improve the OS4 controllers in different modeled environments and test different approaches. After that, the controllers were embedded in the real robot and the results proved to be very robust and feasible. In addition to this, the controller has the advantage of being compatible with future path planners that we are developing.

Detection of gait perturbations based on proprioceptive information. Application to Limit Cycle Walkers

Walking on irregular surfaces and in the presence of unexpected events is a challenging problem for bipedal machines. Up to date, their ability to cope with gait disturbances is far less successful than humans': Neither trajectory controlled robots, nor dynamic walking machines (Limit CycleWalkers) are able to handle them satisfactorily. On the contrary, humans reject gait perturbations naturally and efficiently relying on their sensory organs that, if needed, elicit a recovery action. A similar approach may be envisioned for bipedal robots and exoskeletons: An algorithm continuously observes the state of the walker and, if an unexpected event happens, triggers an adequate reaction. This paper presents a monitoring algorithm that provides immediate detection of any type of perturbation based solely on a phase representation of the normal walking of the robot. The proposed method was evaluated in a Limit Cycle Walker prototype that suffered push and trip perturbations at different moments of the gait cycle, providing 100% successful detections for the current experimental apparatus and adequately tuned parameters, with no false positives when the robot is walking unperturbed.

Magnetic fabric of Araguainha complex impact structure (Central Brazil): Implications for deformation mechanisms and central uplift formation

The weakening mechanisms involved in the collapse of complex impact craters are controversial. The Araguainha impact crater, in Brazil, exposes a complex structure of 40 km in diameter, and is an excellent object to address this issue. Its core is dominated by granite. In addition to microstructural observations, magnetic studies reveal its internal fabric acquired during the collapse phase. All granite samples exhibit impact-related planar deformation features (PDFs) and planar fractures (PFs), which were overprinted by cataclasis. Cataclastic deformation has evolved from incipient brittle fracturing to the development of discrete shear bands in the center of the structure. Fracture planes are systematically decorated by tiny grains (<10 mu m) of magnetite and hematite, and the orientation of magnetic lineation and magnetic foliation obtained by the anisotropies of magnetic susceptibility (AMS) and anhysteretic remanence (AAR) are perfectly coaxial in all studied sites. Therefore, we could track the orientation of deformation features which are decorated by iron oxides using the AMS and AAR. The magnetic fabrics show a regular pattern at the borders of the central peak, with orientations consistent with the fabric of sediments at the crater's inner collar and complex in the center of the structure. Both the cataclastic flow revealed from microstructural observations and the structural pattern of the magnetic anisotropy match the predictions from numerical models of complex impact structures. The widespread occurrence of cataclasis in the central peak, and its orientations revealed by magnetic studies indicate that acoustic fluidization likely operates at all scales, including the mineral scales. The cataclastic flow made possible by acoustic fluidization results in an apparent plastic deformation at the macroscopic scale in the core. (C) 2012 Elsevier B.V. All rights reserved.

1(--) and 0(++) heavy four-quark and molecule states in QCD

We estimate the masses of the 1(--) heavy four-quark and molecule states by combining exponential Laplace (LSR) and finite energy (FESR) sum rules known perturbatively to lowest order (LO) in alpha(s) but including non-perturbative terms up to the complete dimension-six condensate contributions. This approach allows to fix more precisely the value of the QCD continuum threshold (often taken ad hoc) at which the optimal result is extracted. We use double ratio of sum rules (DRSR) for determining the SU(3) breakings terms. We also study the effects of the heavy quark mass definitions on these LO results. The SU(3) mass-splittings of about (50-110) MeV and the ones of about (250-300) MeV between the lowest ground states and their 1st radial excitations are (almost) heavy-flavor independent. The mass predictions summarized in Table 4 are compared with the ones in the literature (when available) and with the three Y-c(4260, 4360, 4660) and Y-b(10890) 1(--) experimental candidates. We conclude (to this order approximation) that the lowest observed state cannot be a pure 1(--) four-quark nor a pure molecule but may result from their mixings. We extend the above analyzes to the 0(++) four-quark and molecule states which are about (0.5-1) GeV heavier than the corresponding 1(--) states, while the splittings between the 0(++) lowest ground state and the 1st radial excitation is about (300-500) MeV. We complete the analysis by estimating the decay constants of the 1(--) and 0(++) four-quark states which are tiny and which exhibit a 1/M-Q behavior. Our predictions can be further tested using some alternative non-perturbative approaches or/and at LHCb and some other hadron factories. (c) 2012 Elsevier B.V. All rights reserved.

Prospect on intergalactic magnetic field measurements with gamma-ray instruments

Observing high-energy gamma-rays from Active Galactic Nuclei (AGN) offers a unique potential to probe extremely tiny values of the intergalactic magnetic field (IGMF), a long standing question of astrophysics, astropa rticle physics and cosmology. Very high energy (VHE) photons from blazars propagating along the line of sight interact with the extragalactic background light (EBL) and produce e + e − pairs. Through inverse-Compton interaction, mainly on the cosmic microwave background (CMB), these pairs generate secondary GeV-TeV compo- nents accompanying the primary VHE signal. Such secondary components would be detected in the gamma-ray range as delayed “pair echos” for very weak IGMF ( B< 10 − 16 G ), while they should result in a spatially extended ga mma-ray emission around the source for higher IGMF values ( B> 10 − 16 G ). Coordinated observations with space (i.e. Fermi) and ground- based gamma-ray instruments, such as the pre sent Cherenkov experiments H.E.S.S., MAGIC and VERITAS, the future Cherenkov Telescope Array (CTA) Observatory, and the wide-field detectors such as HAWC and LHAASO, should allow to analyze and finally detect such echos, extended emission or pair halos, and to further characterize the IGMF.

Reasoning about shadows in a mobile robot environment

This paper describes a logic-based formalism for qualitative spatial reasoning with cast shadows (Perceptual Qualitative Relations on Shadows, or PQRS) and presents results of a mobile robot qualitative self-localisation experiment using this formalism. Shadow detection was accomplished by mapping the images from the robot’s monocular colour camera into a HSV colour space and then thresholding on the V dimension. We present results of selflocalisation using two methods for obtaining the threshold automatically: in one method the images are segmented according to their grey-scale histograms, in the other, the threshold is set according to a prediction about the robot’s location, based upon a qualitative spatial reasoning theory about shadows. This theory-driven threshold search and the qualitative self-localisation procedure are the main contributions of the present research. To the best of our knowledge this is the first work that uses qualitative spatial representations both to perform robot self-localisation and to calibrate a robot’s interpretation of its perceptual input.

QuMinS: fast and scalable querying, mining and summarizing multi-modal databases

Given a large image set, in which very few images have labels, how to guess labels for the remaining majority? How to spot images that need brand new labels different from the predefined ones? How to summarize these data to route the user’s attention to what really matters? Here we answer all these questions. Specifically, we propose QuMinS, a fast, scalable solution to two problems: (i) Low-labor labeling (LLL) – given an image set, very few images have labels, find the most appropriate labels for the rest; and (ii) Mining and attention routing – in the same setting, find clusters, the top-'N IND.O' outlier images, and the 'N IND.R' images that best represent the data. Experiments on satellite images spanning up to 2.25 GB show that, contrasting to the state-of-the-art labeling techniques, QuMinS scales linearly on the data size, being up to 40 times faster than top competitors (GCap), still achieving better or equal accuracy, it spots images that potentially require unpredicted labels, and it works even with tiny initial label sets, i.e., nearly five examples. We also report a case study of our method’s practical usage to show that QuMinS is a viable tool for automatic coffee crop detection from remote sensing images.

Magnetic Properties of γ - Fe2O3 Nanoparticles at the Verge of Nucleation Process.

A low-energy new method based in a one-step synthesis at room temperature produces very small maghemite nanopar ticles. The fast neutralization reaction (co-precipitation) of a ferric solution (FeCl3 aqueous) in a basic medium (NH4OH concentrated) produces an intermediate phase, presumably two-line ferrihydrite, that in oxidizing conditions is transformed to maghemite nanopar ticles. That “primordial soup” is characterized by small atom arrangements that are the base for maghemite tiny crystals. The final product of the reaction was characterized by X-ray diffraction, high-resolution transmission electron microscopy, X-ray absorption fine structure, Mössbauer spectroscopy, and magnetometry.