Optimal trajectory and solution of the inverse kinematics of a robotic manipulator by genetic algorithms

This paper presents the generation of optimal trajectories by genetic algorithms (GA) for a planar robotic manipulator. The implemented GA considers a multi-objective function that minimizes the end-effector positioning error together with the joints angular displacement and it solves the inverse kinematics problem for the trajectory. Computer simulations results are presented to illustrate this implementation and show the efficiency of the used methodology producing soft trajectories with low computing cost. © 2011 Springer-Verlag Berlin Heidelberg.

Measurement of the inclusive production cross sections for forward jets and for dijet events with one forward and one central jet in pp collisions at root s=7 TeV

The inclusive production cross sections for forward jets, as well for jets in dijet events with at least one jet emitted at central and the other at forward pseudorapidities, are measured in the range of transverse momenta p(T) = 35-150 GeV/c in proton-proton collisions at root s = 7 TeV by the CMS experiment at the LHC. Forward jets are measured within pseudorapidities 3.2<|eta|<4.7, and central jets within the |eta|<2.8 range. The double differential cross sections with respect to pt and eta are compared to predictions from three approaches in perturbative quantum chromodynamics: (i) next-to-leading-order calculations obtained with and without matching to parton-shower Monte Carlo simulations, (ii) PYTHIA and HERWIG parton-shower event generators with different tunes of parameters, and (iii) CASCADE and HEJ models, including different non-collinear corrections to standard single-parton radiation. The single-jet inclusive forward jet spectrum is well described by all models, but not all predictions are consistent with the spectra observed for the forward-central dijet events.

Rare earth doped synthetic opals and inverse opals

Monodisperse spheres of silica and latex were obtained by a surfactant free styrene polimerization and the Stober method respectively. Controlling settling either by centrifugation or by dip-coating colloidal crystals could be obtained. Silica inverse opals were prepared by using the latex colloidal crystals as templates and TEOS/ethanol solution. Eu3+ containing silica spheres were obtained dispersing silica spheres in Eu(NO3)(3) isopropanol solutions. Emission spectra suggest the formation of an amorphous Eu3+ containing phase well adhered at the spheres surface. The utilization of solutions of trifluoroacetates salts of Pb2+ and Eu3+ was observed to destroy the silica spherical pattern when samples are treated at 1000degreesC. In that case nanocrystals of PbF2 and amorphous silica were obtained after heat treatment.

Kinetics and mechanism of the forward and reverse reactions between N,N′-dimethyl-4,4′-bipyridinium and hexacyanoferrate(II)

The kinetics of the hexacyanoferrate(III)-N,N′-dimethyl-4,4′-bipyridinium radical (MV+) reaction was studied by a laser flash photolysis technique. The radical was generated, in the presence of Fe(CN)6 3-, by quenching the excited state *Ru(bpy)3 2+ with MV2+. The second-order rate constant for the Fe(CN)6 3--MV+ reaction is (7.6 ± 0.5) × 109 M-1 s-1 at 23°C and ionic strength 0.10 M. Comparison with the rate constants calculated for the diffusion-controlled reaction (4.7 × 109 M-1 s-1) and the activation-controlled reaction (5.2 × 1012 M-1 s-1, on the basis of self-exchange rate constants of 8.0 × 105 M-1 s-1 and 1.9 × 104 M-1 s-1 for the MV2+/+ and Fe(CN)6 3-/4- couples, respectively) leads to the conclusion that the Fe(CN)6 3--MV+ reaction is diffusion controlled. The rate constant for the Fe(CN)6-MV2+ reaction, calculated from the rate constant for the Fe(CN)6 3--MV+ reaction and the appropriate equilibrium constant, is 2.4 × 10-5 M-1 s-1 at 23°C and ionic strength 0.10 M. Microscopic reversibility considerations require that the Fe(CN)6 4--MV2+ reaction be controlled by the dissociation of the successor complex Fe(CN)6 3-|MV+. The thermal and optical electron transfers in the ion pair Fe(CN)6 4-|MV2+ and in related systems are analyzed and discussed. © 1982 American Chemical Society.

Relationship between running intensity, muscle activation, and stride kinematics during an incremental protocol

Objective: To analyze the effect of running intensity on stride length (SL), stride frequency (SF), stride time (ST) and the electromyographic signal of the rectus femoris (RF), vastus lateralis (VL), vastus medialis (VM), tibialis anterior (TA), biceps femoris (BF) and gastrocnemius lateralis (GL) muscles. Methods: Nine well-trained runners performed an incremental protocol with an initial velocity of 10km.h-1, and increments of 1km.h-1 every 3minutes until exhaustion. The electromyographic activity, SL, SF, ST, inter-stride coefficient of variation, and association between kinematic and electromyographic parameters were calculated at 60%, 80% and 100% of maximum running velocity. Results: SL, SF and electromyographic activity of the RF, VM, VL and GL increased and the ST decreased with increased running speed. Electromyographic variability of VL and VM was higher than GL, and variability was lower in TA than all other muscles. The inter-stride variability of muscle activation was associated with kinematic parameters, and their variability, differently as running speed increased. Conclusion: The incremental protocol increased electromyographic activity differently among lower limb muscles; increased SF and SL, and decreased ST, without changing the variability of these variables. Muscle activation variability was correlated with kinematic parameters, but the relationships among these measures varied with running intensity. © 2013 .

Mapeamento da cinemática inversa de um manipulador robótico utilizando redes neurais artificiais configuradas em paralelo

Pós-graduação em Engenharia Elétrica - FEIS

The effects of anxiety on visual search, movement kinematics, and performance in table tennis: A test of Eysenck and Calvo's processing efficiency theory

Processing efficiency theory predicts that anxiety reduces the processing capacity of working memory and has detrimental effects on performance. When tasks place little demand on working memory, the negative effects of anxiety can be avoided by increasing effort. Although performance efficiency decreases, there is no change in performance effectiveness. When tasks impose a heavy demand on working memory, however, anxiety leads to decrements in efficiency and effectiveness. These presumptions were tested using a modified table tennis task that placed low (LWM) and high (HWM) demands on working memory. Cognitive anxiety was manipulated through a competitive ranking structure and prize money. Participants' accuracy in hitting concentric circle targets in predetermined sequences was taken as a measure of performance effectiveness, while probe reaction time (PRT), perceived mental effort (RSME), visual search data, and arm kinematics were recorded as measures of efficiency. Anxiety had a negative effect on performance effectiveness in both LWM and HWM tasks. There was an increase in frequency of gaze and in PRT and RSME values in both tasks under high vs. low anxiety conditions, implying decrements in performance efficiency. However, participants spent more time tracking the ball in the HWM task and employed a shorter tau margin when anxious. Although anxiety impaired performance effectiveness and efficiency, decrements in efficiency were more pronounced in the HWM task than in the LWM task, providing support for processing efficiency theory.

Built to Bite: Feeding Kinematics, Bite Forces, and Head Shape of a Specialized Durophagous Lizard, Dracaena Guianensis (Teiidae)

Most lizards feed on a variety of food items that may differ dramatically in their physical and behavioral characteristics. Several lizard families are known to feed upon hard-shelled prey (durophagy). Yet, specializations toward true molluscivory have been documented for only a few species. As snails are hard and brittle food items, it has been suggested that a specialized cranial morphology, high bite forces, and an adapted feeding strategy are important for such lizards. Here we compare head and skull morphology, bite forces, and feeding kinematics of a snail-crushing teiid lizard (Dracaena guianensis) with those in a closely related omnivorous species (Tupinambis merianae). Our data show that juvenile D. guianensis differ from T. merianae in having bigger heads and greater bite forces. Adults, however, do not differ in bite force. A comparison of feeding kinematics in adult Dracaena and Tupinambis revealed that Dracaena typically use more transport cycles, yet are more agile in manipulating snails. During transport, the tongue plays an important role in manipulating and expelling shell fragments before swallowing. Although Dracaena is slow, these animals are very effective in crushing and processing hard-shelled prey. J. Exp. Zool. 317A:371381, 2012. (c) 2012 Wiley Periodicals, Inc.

Ultra-precision face grinding with constant pressure, lapping kinematics, and SiC grinding wheels dressed with overlap factor

Several machining processes have been created and improved in order to achieve the best results ever accomplished in hard and difficult to machine materials. Some of these abrasive manufacturing processes emerging on the science frontier can be defined as ultra-precision grinding. For finishing flat surfaces, researchers have been putting together the main advantages of traditional abrasive processes such as face grinding with constant pressure, fixed abrasives for two-body removal mechanism, total contact of the part with the tool, and lapping kinematics as well as some specific operations to keep grinding wheel sharpness and form. In the present work, both U d-lap grinding process and its machine tool were studied aiming nanometric finishing on flat metallic surfaces. Such hypothesis was investigated on AISI 420 stainless steel workpieces U d-lap ground with different values of overlap factor on dressing (Ud=1, 3, and 5) and grit sizes of conventional grinding wheels (silicon carbide (SiC)=#800, #600, and #300) applying a new machine tool especially designed and built for such finishing. The best results, obtained after 10 min of machining, were average surface roughness (Ra) of 1.92 nm, 1.19-μm flatness deviation of 25.4-mm-diameter workpieces, and mirrored surface finishing. Given the surface quality achieved, the U d-lap grinding process can be included among the ultra-precision abrasive processes and, depending on the application, the chaining steps of grinding, lapping, and polishing can be replaced by the proposed abrasive process.

Maxillo-mandibular counter-clockwise rotation and mandibular advancement with TMJ Concepts (R) total joint prostheses Part IV - Soft tissue response

The purpose of this Study was to evaluate Soft tissue response to rnaxillo-mandibular counter-clockwise rotation, with TMJ reconstruction and mandibular advancement using TMJ Concepts (R) total joint prostheses, and maxillary osteotomies in 44 females. All patients were operated at Baylor University Medical Center, Dallas TX, USA, by one Surgeon (Wolford). Eighteen patients had genioplasties with either porous block hydroxyapatite or hard tissue replacement implants (Group 2) 26 had no genioplasty (Group 1). Surgically, the maxilla moved forward and upward by counter-clockwise maxillo-mandibular rotation with greater horizontal movement in Group 2. Vertically, both groups showed diversity of maxillo-mandibular mean movement. Group I showed a consistent 1:0.97 ratio of hard to soft tissue advancement at pogonion; Group 2 results were less consistent, with ratios between 1:0.84 and 1:1.02. Horizontal changes in upper lip morphology after maxillary advancement/impaction, VY closure, and alar base cinch sutures showed greater movement in both groups, than observed in hard tissue. Counter-clockwise rotation of the maxillo-mandibular complex using TMJ Concepts total joint prostheses resulted in similar soft tissue response as previously reported for traditional maxillo-mandibular advancement without counter-clockwise rotation of the occlusal plane. The association of chin implants, in the present sample, showed higher variability of soft tissue response.

Functional shikimate dehydrogenase from Mycobacterium tuberculosis H37Rv: Purification and characterization

Tuberculosis (TB) poses a major worldwide public health problem. The increasing prevalence of TB, the emergence of multi-drug-resistant strains of Mycobacterium tuberculosis, the causative agent of TB, and the devastating effect of co-infection with HIV have highlighted the urgent need for the development of new antimycobacterial agents. Analysis of the complete genome sequence of M. tuberculosis shows the presence of genes involved in the aromatic amino acid biosynthetic pathway. Experimental evidence that this pathway is essential for M. tuberculosis has been reported. The genes and pathways that are essential for the growth of the microorganisms make them attractive drug targets since inhibiting their function may kill the bacilli. We have previously cloned and expressed in the soluble form the fourth shikimate pathway enzyme of the M. tuberculosis, the aroE-encoded shikimate dehydrogenase (mtSD). Here, we present the purification of active recombinant aroE-encoded M. tuberculosis shikimate dehydrogenase (mtSD) to homogeneity, N-terminal sequencing, mass spectrometry, assessment of the oligomeric state by gel filtration chromatography, determination of apparent steady-state kinetic parameters for both the forward and reverse directions, apparent equilibrium constant, thermal stability, and energy of activation for the enzyme-catalyzed chemical reaction. These results pave the way for structural and kinetic studies, which should aid in the rational design of mtSD inhibitors to be tested as antimycobacterial agents. (c) 2005 Elsevier B.V. All rights reserved.

Spray deposition and losses in potato as a function of air-assistance and sprayer boom angle

A cultura da batata possui grande expressão econômica dentro do cenário agrícola. Para isso, equipamentos e técnicas de aplicação de produtos fitossanitários vêm sendo desenvolvidos visando melhorar o rendimento econômico da cultura. Neste sentido, experimentos foram conduzidos no delineamento em blocos ao acaso na cultura da batata cv. Ágata. Objetivando avaliar o efeito da assistência de ar combinada a diferentes ângulos de aplicação sobre a deposição da pulverização, bem como as perdas da calda para o solo utilizou-se um pulverizador com e sem assistência de ar junto à barra de pulverização posicionada a +30º, 0º e -30º (sinal + a favor e - contrário ao deslocamento) em relação a vertical. O volume de calda foi 400 L ha-1 utilizando-se pontas de jato cônico vazio JA-4 na pressão de 633 kPa. Para a avaliação dos depósitos utilizou-se um traçador cúprico. Os depósitos foram removidos dos folíolos por lavagem com água destilada, em ambas as superfícies foliares, nas posições superior e inferior das plantas de batata e quantificados por espectrofotometria de absorção atômica. As perdas da pulverização foram avaliadas em coletores plásticos colocados nas entrelinhas das parcelas experimentais. Os níveis dos depósitos do traçador cúprico nas diferentes posições da planta foram analisados pelo teste estatístico T² de Hotteling. Os maiores depósitos foram obtidos com a barra posicionada a 0º e +30º, em presença da assistência de ar, tanto na posição superior quanto inferior da planta. A presença do ar, além de propiciar maiores depósitos na parte inferior das plantas, possibilitou maior uniformidade na distribuição deles. As perdas da pulverização ficaram abaixo de 4%.

Electromyographic study of the trapezius (pars superior) and levator scapulae muscles in circumduction and pendular oscillation of the arm

The trapezius (pars superior) and levator scapulae mm were studied in the arm movements of circumduction and pendular oscillation in 30 adult volunteers of both sexes. A two-channel TECA TE 4 electromyograph and single coaxial needle electrodes were used. It was found out that as arm conduction, both muscles show an activity that gradually increases and decreases the intensity at the elevation and lowering phases respectively. It was also noticed that between two consecutive circumductions a 'silent period' in the activity of the above mentioned muscles occurs. In pendular oscillation these muscles show electrical activity both in the forward and backward moving, and both muscles show a 'silent period' when the arm passes by the trunk. It was not observed in these movements any significant difference in activity of these muscles regarding sex.

Electromyographic validation of the trapezius and serratus anterior muscles in military press exercises with middle grip

Electromyographic activity of the trapezius muscle and serratus anterior muscle was analysed in 24 male volunteers using a 2-channel TECA TE 4 electromyograp, during the execution of four different modalities of military press exercises with middle grip. The trapezius acted preferentially in the modalities standing press behind neck; and sitting forward and press behind neck, while SI did not show any significative difference among the modalities. The high levels of action potentials with which TS and SI acted justify the inclusion of these exercises in physical programmes.

Substitution-newton-Raphson method for the solution of electric network equations

The power flow problem, in transmission networks, has been well solved, for most cases, using Newton-Raphson method (NR) and its decoupled versions. Generally speaking, the solution of a non-linear system of equations refers to two methods: NR and Successive Substitution. The proposal of this paper is to evaluate the potential of the Substitution-Newton-Raphson Method (SNR), which combines both methods, on the solution of the power flow problem. Simulations were performed using a two-bus test network in order to observe the characteristics of these methods. It was verified that the NR is faster than SNR, in terms of convergence, considering non-stressed scenarios. For those cases where the power flow in the network is closed to the limits (stressed system), the SNR converges faster. This paper presents the power flow formulation of the SNR and describes its potential for its application in special cases such as stressed scenarios. © 2006 IEEE.