Force sensor of a climbing robot derived from its own flexible structure

One of the most important design constraints of a climbing robot is its own weight. When links or legs are used as a locomotion system they tend to be composed of special lightweight materials, or four-bars-linkage mechanisms are designed to reduce the weight with small rigidity looses. In these cases, flexibility appears and undesirable effects, such as dynamics vibrations, must be avoided at least when the robot moves at low speeds. The knowledge of the real tip position requires the computation of its compliance or stiffness matrix and the external forces applied to the structure. Gravitational forces can be estimated, but external tip forces need to be measured. This paper proposes a strain gauge system which achieves the following tasks: (i) measurement of the external tip forces, and (ii) estimation of the real tip position (including flexibility effects). The main advantages of the proposed system are: (a) the use of external force sensors is avoided, and (b) a substantial reduction of the robot weight is achieved in comparison with other external force measurement systems. The proposed method is applied to a real symmetric climbing robot and experimental results are presented.

Improving flexible databases searches using machine learning

El objetivo principal de este proyecto ha sido introducir aprendizaje automático en la aplicación FleSe. FleSe es una aplicación web que permite realizar consultas borrosas sobre bases de datos nítidos. Para llevar a cabo esta función la aplicación utiliza unos criterios para definir los conceptos borrosos usados para llevar a cabo las consultas. FleSe además permite que el usuario cambie estas personalizaciones. Es aquí donde introduciremos el aprendizaje automático, de tal manera que los criterios por defecto cambien y aprendan en función de las personalizaciones que van realizando los usuarios. Los objetivos secundarios han sido familiarizarse con el desarrollo y diseño web, al igual que recordar y ampliar el conocimiento sobre lógica borrosa y el lenguaje de programación lógica Ciao-Prolog. A lo largo de la realización del proyecto y sobre todo después del estudio de los resultados se demuestra que la agrupación de los usuarios marca la diferencia con la última versión de la aplicación. Esto se basa en la siguiente idea, podemos usar un algoritmo de aprendizaje automático sobre las personalizaciones de los criterios de todos los usuarios, pero la gran diversidad de opiniones de los usuarios puede llevar al algoritmo a concluir criterios erróneos o no representativos. Para solucionar este problema agrupamos a los usuarios intentando que cada grupo tengan la misma opinión o mismo criterio sobre el concepto. Y después de haber realizado las agrupaciones usar el algoritmo de aprendizaje automático para precisar el criterio por defecto de cada grupo de usuarios. Como posibles mejoras para futuras versiones de la aplicación FleSe sería un mejor control y manejo del ejecutable plserver. Este archivo se encarga de permitir a la aplicación web usar el lenguaje de programación lógica Ciao-Prolog para llevar a cabo la lógica borrosa relacionada con las consultas. Uno de los problemas más importantes que ofrece plserver es que bloquea el hilo de ejecución al intentar cargar un archivo con errores y en caso de ocurrir repetidas veces bloquea todas las peticiones siguientes bloqueando la aplicación. Pensando en los usuarios y posibles clientes, sería también importante permitir que FleSe trabajase con bases de datos de SQL en vez de almacenar la base de datos en los archivos de Prolog. Otra posible mejora basarse en distintas características a la hora de agrupar los usuarios dependiendo de los conceptos borrosos que se van ha utilizar en las consultas. Con esto se conseguiría que para cada concepto borroso, se generasen distintos grupos de usuarios, los cuales tendrían opiniones distintas sobre el concepto en cuestión. Así se generarían criterios por defecto más precisos para cada usuario y cada concepto borroso.---ABSTRACT---The main objective of this project has been to introduce machine learning in the application FleSe. FleSe is a web application that makes fuzzy queries over databases with precise information, using defined criteria to define the fuzzy concepts used by the queries. The application allows the users to change and custom these criteria. On this point is where the machine learning would be introduced, so FleSe learn from every new user customization of the criteria in order to generate a new default value of it. The secondary objectives of this project were get familiar with web development and web design in order to understand the how the application works, as well as refresh and improve the knowledge about fuzzy logic and logic programing. During the realization of the project and after the study of the results, I realized that clustering the users in different groups makes the difference between this new version of the application and the previous. This conclusion follows the next idea, we can use an algorithm to introduce machine learning over the criteria that people have, but the problem is the diversity of opinions and judgements that exists, making impossible to generate a unique correct criteria for all the users. In order to solve this problem, before using the machine learning methods, we cluster the users in order to make groups that have the same opinion, and afterwards, use the machine learning methods to precise the default criteria of each users group. The future improvements that could be important for the next versions of FleSe will be to control better the behaviour of the plserver file, that cost many troubles at the beginning of this project and it also generate important errors in the previous version. The file plserver allows the web application to use Ciao-Prolog, a logic programming language that control and manage all the fuzzy logic. One of the main problems with plserver is that when the user uploads a file with errors, it will block the thread and when this happens multiple times it will start blocking all the requests. Oriented to the customer, would be important as well to allow FleSe to manage and work with SQL databases instead of store the data in the Prolog files. Another possible improvement would that the cluster algorithm would be based on different criteria depending on the fuzzy concepts that the selected Prolog file have. This will generate more meaningful clusters, and therefore, the default criteria offered to the users will be more precise.

Design of broadband transmitarray unit cells with comparative study of different numbers of layers

A generalized methodology to design low-profile transmitarray (TA) antennas made of several stacked layers with nonresonant printed phasing elements is presented. A study of the unit cell bandwidth, phase-shift range and tolerances has been conducted considering different numbers of layers. A structure with three metalized layers with capacitive and inductive elements enabling a phase range of nearly 360° and low insertion loss is introduced. A study of the four-layer structure shows improvement in the performance of the unit cells in terms of bandwidth from 2% to more than 20% and a complete phase coverage. Implementations on a flexible substrate of TAs with progressive phase shift operating at 19 GHz are used for validation.

Design of polyzinc finger peptides with structured linkers

Zinc finger domains are perhaps the most versatile of all known DNA binding domains. By fusing up to six zinc finger modules, which normally recognize up to 18 bp of DNA, designer transcription factors can be produced to target unique sequences within large genomes. However, not all continuous DNA sequences make good zinc finger binding sites. To avoid having to target unfavorable DNA sequences, we designed multizinc finger peptides with linkers capable of spanning long stretches of nonbound DNA. Two three-finger domains were fused by using either transcription factor IIIA for the Xenopus 5S RNA gene (TFIIIA) finger 4 or a non-sequence-specific zinc finger as a “structured” linker. Our gel-shift results demonstrate that these peptides are able to bind with picomolar affinities to target sequences containing 0–10 bp of nonbound DNA. Furthermore, these peptides display greater sequence selectivity and bind with higher affinity than similar six-finger peptides containing long, flexible linkers. These peptides are likely to be of use in understanding the behavior of polydactyl proteins in nature and in the targeting of human, animal, or plant genomes for numerous applications. We also suggest that in certain polydactyl peptides an individual finger can “flip” out of the major groove to allow its neighbors to bind shorter, nontarget DNA sequences.

The design of an agent to bend DNA.

An artificial DNA bending agent has been designed to assess helix flexibility over regions as small as a protein binding site. Bending was obtained by linking a pair of 15-base-long triple helix forming oligonucleotides (TFOs) by an adjustable polymeric linker. By design, DNA bending was introduced into the double helix within a 10-bp spacer region positioned between the two sites of 15-base triple helix formation. The existence of this bend has been confirmed by circular permutation and phase-sensitive electrophoresis, and the directionality of the bend has been determined as a compression of the minor helix groove. The magnitude of the resulting duplex bend was found to be dependent on the length of the polymeric linker in a fashion consistent with a simple geometric model. Data suggested that a 50-70 degrees bend was achieved by binding of the TFO chimera with the shortest linker span (18 rotatable bonds). Equilibrium analysis showed that, relative to a chimera which did not bend the duplex, the stability of the triple helix possessing a 50-70 degrees bend was reduced by less than 1 kcal/mol of that of the unbent complex. Based upon this similarity, it is proposed that duplex DNA may be much more flexible with respect to minor groove compression than previously assumed. It is shown that this unusual flexibility is consistent with recent quantitation of protein-induced minor groove bending.

Selective SWIFT-R. A Flexible Software-Based Technique for Soft Error Mitigation in Low-Cost Embedded Systems

Commercial off-the-shelf microprocessors are the core of low-cost embedded systems due to their programmability and cost-effectiveness. Recent advances in electronic technologies have allowed remarkable improvements in their performance. However, they have also made microprocessors more susceptible to transient faults induced by radiation. These non-destructive events (soft errors), may cause a microprocessor to produce a wrong computation result or lose control of a system with catastrophic consequences. Therefore, soft error mitigation has become a compulsory requirement for an increasing number of applications, which operate from the space to the ground level. In this context, this paper uses the concept of selective hardening, which is aimed to design reduced-overhead and flexible mitigation techniques. Following this concept, a novel flexible version of the software-based fault recovery technique known as SWIFT-R is proposed. Our approach makes possible to select different registers subsets from the microprocessor register file to be protected on software. Thus, design space is enriched with a wide spectrum of new partially protected versions, which offer more flexibility to designers. This permits to find the best trade-offs between performance, code size, and fault coverage. Three case studies have been developed to show the applicability and flexibility of the proposal.

Time-Precision Flexible Arithmetic Unit

Paper submitted to the XVIII Conference on Design of Circuits and Integrated Systems (DCIS), Ciudad Real, España, 2003.

Calculation Methodology for Flexible Arithmetic Processing

Paper submitted to the IFIP International Conference on Very Large Scale Integration (VLSI-SOC), Darmstadt, Germany, 2003.

Time-Precision Flexible Adder

Paper submitted to 10th IEEE International Conference on Electronics, Circuits and Systems (ICECS), Sharjah, Emiratos Árabes, 2003.

Structural design of roadway shoulders. Final report.

Federal Highway Administration, Office of Engineering and Highway Operations Research and Development, McLean, Va.

Flexible airfield pavements; Air Force.

Cover title.

Evaluation of the AASHTO design equations and recommended improvements /

"SHRP-P-394."

Optimally distributed actuator placement and control for a slewing single-link flexible manipulator

A method is proposed for determining the optimal placement and controller design for multiple distributed actuators to reduce the vibrations of flexible structures. In particular, application of piezoceramic patches to a horizontally-slewing single-link flexible manipulator modeled using the assumed modes method is investigated. The optimization method uses simulated annealing and allows placement of any number of distributed actuators of unequal length, although piezoceramics of fixed equal lengths are used in the example. It also designs an linear-quadratic-regulator controller as part of the optimization procedure. The measures of performance used in the investigation to determine optimality are the total mass of the system and the time integral of the absolute value of the hub and tip position error. This study also varies the relative weightings for each of these performance measures to observe the effects on the controller designs and piezoceramic patch positions in the optimized solutions.

Photonic crystal fibers design for 2 μm wavelenght operation

New photonic crystal fiber designs are presented and numerically investigated in order to improve the state of art of high power fiber lasers. The focus of this work is targeted on the region of 2 μm laser emission, which is of high interest due to its eye-safe nature and due to the large amount of applications permitted. Thulium doped fiber amplifiers are suitable for emitting in this region. Different fiber designs have been proposed, both flexible and rod-type, with the aim to enlarge mode area while maintaining robust single mode operation. The analysis of thermal effects, caused by the high thulium quantum defect, have been taken in consideration. Solutions to counteract issues derived by detrimental thermal effects have been implemented.

Design and synthesis of potential antimicrobial agents

Chorismate mutase is one of the essential enzymes in the shikimate pathway and is key to the survival of the organism Mycobacterium tuberculosis. The x-ray crystal structure of this enzyme from Mycobacterium tuberculosis was manipulated to prepare an initial set of in silico protein models of the active site. Known inhibitors of the enzyme were docked into the active site using the flexible ligand / flexible active site side chains approach implemented in CAChe Worksystem (Fujitsu Ltd). The resulting complexes were refined by molecular dynamics studies in explicit water using Amber 9. This yielded a further set of protein models that were used for additional rounds of ligand docking. A binding hypothesis was established for the enzyme and this was used to screen a database of commercially available drug-like compounds. From these results new potential ligands were designed that fitted appropriately into the active site and matched the functional groups and binding motifs founds therein. Some of these compounds and close analogues were then synthesized and submitted for biological evaluation. As a separate part of this thesis, analogues of very active anti-tuberculosis pyridylcarboxamidrazone were also prepared. This was carried out by the addition and the deletion of the substitutions from the lead compound thereby preparing heteroaryl carboxamidrazone derivatives and related compounds. All these compounds were initially evaluated for biological activity against various gram positive organisms and then sent to the TAACF (USA) for screening against Mycobacterium tuberculosis. Some of the new compounds proved to be at least as potent as the original lead compound but less toxic.