TORP: The Open Robot Project A Framework for Module-Based Robots

The development of robots has shown itself as a very complex interdisciplinary research field. The predominant procedure for these developments in the last decades is based on the assumption that each robot is a fully personalized project, with the direct embedding of hardware and software technologies in robot parts with no level of abstraction. Although this methodology has brought countless benefits to the robotics research, on the other hand, it has imposed major drawbacks: (i) the difficulty to reuse hardware and software parts in new robots or new versions; (ii) the difficulty to compare performance of different robots parts; and (iii) the difficulty to adapt development needs-in hardware and software levels-to local groups expertise. Large advances might be reached, for example, if physical parts of a robot could be reused in a different robot constructed with other technologies by other researcher or group. This paper proposes a framework for robots, TORP (The Open Robot Project), that aims to put forward a standardization in all dimensions (electrical, mechanical and computational) of a robot shared development model. This architecture is based on the dissociation between the robot and its parts, and between the robot parts and their technologies. In this paper, the first specification for a TORP family and the first humanoid robot constructed following the TORP specification set are presented, as well as the advances proposed for their improvement.

Vertical growth of mini watermelon according to the training height and plant density

A melancia é uma espécie tradicionalmente conduzida em campo no sistema rasteiro. As cultivares de frutos pequenos (1 a 3 kg), que adquirem melhores preços de mercado, vêm sendo cultivadas também em ambiente protegido, onde são conduzidas no sistema vertical, com poda de ramos e raleio de frutos. Essas práticas possibilitam aumentar o adensamento das plantas, a qualidade e a produtividade de frutos em comparação ao sistema rasteiro. Objetivou-se com este trabalho avaliar a influência de três alturas de condução (1,7; 2,2 e 2,7 m) e duas densidades de plantas (3,17 e 4,76 plantas m-2) sobre as características produtivas e qualitativas da mini melancia Smile cultivada em ambiente protegido. A poda da haste principal foi realizada aos 43, 55 e 66 dias após o transplante (DAT) para as alturas de condução de 1,7; 2,2 e 2,7 m, respectivamente. A massa seca dos ramos, dos pecíolos, das folhas e total foram afetados pela altura de condução, cujos maiores valores foram obtidos para as plantas conduzidas a 2,2 e 2,7 m de altura. A área foliar, a área foliar específica e o índice de área foliar não foram influenciados pela altura de condução das plantas. A altura de condução de 2,7 m elevou a produtividade total. Entretanto, a produtividade comercial, a massa média dos frutos e todas as características qualitativas não foram significativamente diferentes das obtidos pela altura de poda de 2,2 m. em relação à densidade de plantas, a melhor opção foi a de 4,76 plantas m-2, pois elevou a produtividade comercial em 37,4% sem reduzir a massa média dos frutos.

Robots, intencionalidade e inteligência artificial

O artigo aborda problemas filosóficos relativos à natureza da intencionalidade e da representação mental. A primeira parte apresenta um breve histórico dos problemas, percorrendo rapidamente alguns episódios da filosofia clássica e da filosofia contemporânea. A segunda parte examina o Chinese Room Argument (Argumento do Quarto do Chinês) formulado por J. Searle. A terceira parte desenvolve alguns argumentos visando mostrar a inadequação do modelo funcionalista de mente na construção de robots. A conclusão (quarta parte) aponta algumas alternativas ao modelo funcionalista tradicional, como, por exemplo, o conexionismo.

A morphological view of the relationship between indirect flight muscle maturation and the flying needs of two species of advanced eusocial bees

Fundação de Amparo à Pesquisa do Estado de São Paulo (FAPESP)

Extra dimensions at the CERN LHC via mini-black holes: Effective Kerr-Newman brane-world effects

We solve Einstein equations on the brane to derive the exact form of the brane-world-corrected perturbations in Kerr-Newman singularities, using Randall-Sundrum and Arkani-Hamed-Dimopoulos-Dvali (ADD) models. It is a consequence of such models that Kerr-Newman mini-black holes can be produced in LHC. We use this approach to derive a normalized correction for the Schwarzschild Myers-Perry radius of a static (4+n)-dimensional mini-black hole, using more realistic approaches arising from Kerr-Newman mini-black hole analysis. Besides, we prove that there are four Kerr-Newman black hole horizons in the brane-world scenario we use, although only the outer horizon is relevant in the physical measurable processes. Parton cross sections in LHC and Hawking temperature are also investigated as functions of Planck mass (in the LHC range 1-10 TeV), mini-black hole mass, and the number of large extra dimensions in brane-world large extra-dimensional scenarios. In this case a more realistic brane-effect-corrected formalism can achieve more precisely the effective extra-dimensional Planck mass and the number of large extra dimensions-in the Arkani-Hamed-Dimopoulos-Dvali model-or the size of the warped extra dimension-in Randall-Sundrum formalism.

Mini-implant and Nance button for initial retraction of maxillary canines: a prospective study in cast models

OBJETIVO: a ancoragem óssea é fundamental para o sucesso do tratamento de algumas más oclusões, pois permite a aplicação de forças contínuas, diminui o tempo de tratamento e independe da colaboração do paciente. MÉTODOS: o propósito desse trabalho foi comparar, por meio de modelos dentários, a perda de ancoragem após a retração inicial de caninos superiores entre dois grupos. O grupo A utilizou o mini-implante enquanto o grupo B utilizou o Botão de Nance. Para todos os pacientes foram realizados dois modelos (M1 e M2). Os primeiros modelos foram realizados ao início (M1), e os outros ao final da retração inicial de canino (M2). RESULTADOS: todas as medidas foram tabuladas e submetidas à análise estatística. Para verificar o erro sistemático intraexaminador foi utilizado o teste t pareado. Na determinação do erro casual utilizou-se o cálculo de erro proposto por Dahlberg. Para comparação entre as fases Início e Após, foi utilizado o teste t pareado. Para a comparação entre os grupos de mini-implante e Botão de Nance, foi utilizado o teste t de Student para medidas independentes. em todos os testes foi adotado nível de significância de 5% (p<0,05). CONCLUSÃO: ao se medir e comparar em modelos dentários a perda de ancoragem dos molares após a retração inicial de canino utilizando-se dois sistemas de ancoragem distintos (Mini-implante e Botão de Nance), pôde-se observar a inexistência de diferença estatisticamente significativa entre os dois grupos.

Brotação de mini-tubérculos de sete cultivares de batata em função de concentrações de bissulfureto de carbono

Estudou-se o efeito de concentrações de bissulfureto de carbono sobre a brotação de mini-tubérculos de batata. O ensaio foi instalado no esquema fatorial 5 x 7, onde as variáveis constaram de quatro diferentes doses de bissulfureto de carbono (10; 20; 30 e 40 mg L-1) além do controle e sete cultivares de batata (Bintje, Jaete Bintje, Atlantic, Cupido, Ágata, Monalisa e Mondial). Os tratamentos com bissulfureto de carbono foram aplicados durante um período de 72 horas, após o qual os mini-tubérculos de batata foram colocados em bandejas de isopor para brotação. de forma geral, todas as concentrações de bissulfureto de carbono estimularam a brotação. As cultivares Bintje e Atlantic responderam de forma positiva ao bissulfureto de carbono, onde o aumento da concentração levou ao aumento do número de brotos por tubérculo. As cultivares Ágata e Mondial responderam positivamente à concentração de 10 mg L-1, sendo que o acréscimo nas concentrações pouco interferiu no número de brotos por tubérculo. As cultivares Jaete Bintje e Monalisa só responderam às concentrações de 20 e 30 mg L-1, e na de 40 mg L-1 o bissulfureto de carbono provocou a queima de gemas.

Size, taxonomic and biomass distributions of flying insects in Central Amazonia: Forest edge vs. understory

Significantly more individuals and biomass of flying insects were present at the forest edge than in the understory throughout the year, as monitored by flight interception traps, in Central Amazonia. Numbers and biomass of flying insects increased at higher rates at the edge with rainfall, associated with termite swarming behavior and increased Homopteran density. The most abundant insects were Diptera, Coleoptera, Hymenoptera and Isoptera, whose ranked abundances varied with respect to forest edge and understory, as well as with season.

Yolk sac remnant in a mini-pony foal

Few reports are available concerning yolk sac remnants in the equine species, with little information on histopathological findings. A stillborn mini-pony foal showed a fluid-filled mass, measuring about 10 cm in circumference, close to the umbilical cord. Microscopic examination better defined the structures seen in the cyst.

Determination of cadmium in river water samples by flame AAS after on-line preconcentration in mini-column packed with 2-aminothiazole-modified silica gel

A rapid and sensitive method was developed to determine trace levels of Cd2+ ions in an aqueous medium by flame atomic absorption spectrometry, using on-line preconcentration in a mini-column packed with 100 mg of 2-aminothiazol modified silica gel (SiAT). The Cd2+ ions were sorbed at pH 5.0. The preconcentrated Cd2+ ions were directly eluted from the column to the spectrometer's nebulizer-burner system using 100 μL of 2 mol L-1 hydrochloric acid. A retention efficiency of over 95% was achieved. The enrichment factor (calculated as the ratio of slopes of the calibration graphs) obtained with preconcentrations in a mini-column packed with SiAT (A = -1.3 × 10-3 + 1.8 × 10-3 [Cd2+]) and without preconcentrations (A = 4 × 10-5 + 3.5 × 10-3[Cd2+]), was 51 and the detection limit calculated was 0.38 μg L-1. The preconcentration procedure was applied to determine trace levels of Cd in river water samples. The optimum preconcentration conditions are discussed herein.

Nest site selection and flying capacity of neotropical wasp Angiopolybia pallens (Hymenoptera: Vespidae) in the Atlantic Rain Forest, Bahia State, Brazil

In order to evaluate the flying capacity and nest site selection of Angiopolybia pallens (Lepeletier, 1836), we made 17 incursions (136 hours of sample efforts) in Atlantic Rain Forest environments in Bahia state. Our data show this wasp prefers to nest on wide leaves of bushes and short trees (nests between 0.30 and 3m from the ground) placed in half-shady environments (clearings and shadowed cultivations). The logistic regression model using Quasi-Newton method provided a good description of the flying capacity observed in A. pallens (x 2 = 91.52; p≪0.001). According to the logistic regression model, the A. pallens flight autonomy is low, flying for short distances and with an effective radius of action of about 24m measured from their nests, which means a foraging area of nearly 1,800 m 2.

Electromyographic analysis of the pectoralis major and deltoideus anterior in the inclined flying exercise with loads

Due to a shortage of textbooks with specific data on muscular activity concerning physical conditioning and sports, we analysed electromyographically the muscles pectoralis major and deltoideus anterior, bilaterally, in inclined flying exercises, during the concentric and eccentric phases, with external loads of 25, 50, 75 and 100% of the maximum load. The electromyographic analysis was performed in eleven male volunteers with MEDITRACE-200 surface electrodes connected to a six-channel biologic signal acquisition module coupled to a PC/AT computer. The electromyographic signals were processed and the obtained effective values were normalized through maximum voluntary isometric contraction. Statistically, the results showed that all the muscles studied presented significant differences between the concentric and the eccentric phases, with higher electromyographic activity during the concentric phase. By analysing the different loads for each muscle in both phases, significant electromyographic activity was observed for all muscles. When the effect of each load on each muscle during the concentric phase was analysed, it was noticed that the muscles on the left were more active than those on the right side, while in the eccentric phase the muscles had different behavior.

Autonomous mobile robots designing for the medical trash collector task

This paper describes the UNESP robotic team in the medical trash collector task, proposed on the 5 rd IEEE Latin American Robots Competition in the LEGO category. We present our understanding of the task and discuss the proposed solution, focusing on the mechanical and computational issues of the robots. The mechanics is based on rigid body capability of transforming rotational into curvilinear movement. With respect to the computational control, the system is modeled as a reactive system with sequential transition of behaviors. A state-machine is proposed to allow this transition, and the synchronization of robotic states is guaranteed by the communication system. The proposed approach has shown itself capable of dealing with the high difficulty degree of this cooperative task. ©2006 IEEE.

Conception of wheeled mobile robots with reconfigurable control using integrate prototyping

With the fast innovation of the hardware and software technologies using rapid prototyping devices, with application in the robotics and automation, more and more it becomes necessary the development of applications based on methodologies that facilitate future modifications, updates and enhancements in the original projected system. This paper presents a conception of mobile robots using rapid prototyping, distributing the several control actions in growing levels of complexity and using resources of reconfigurable computing proposal oriented to embed systems implementation. Software and the hardware are structuralized in independents blocks, with connection through common bus. The study and applications of new structures control that permits good performance in relation to the parameter variations. This kind of controller can be tested on different platform representing the wheeled mobile robots using reprogrammable logic components (FPGA). © 2006 IEEE.