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.

Untersuchungen zu COX/LOX-Inhibitoren mit Hydroxylradikalfängereigenschaften – Synthese, Testung und Modelling

In der vorliegenden Arbeit werden 52 Verbindungen beschrieben, welche auf COX/LOX-Inhibition mit zusätzlichen Hydroxylradikalfängereigenschaften getestet worden sind. rnEs war möglich eine neue Synthesestrategie für noch nicht beschriebene 4,5-Diarylisoselenazole zu entwickeln und eine vorhandene Synthese für Isothiazoliumchloride von zwei Stufen, mit mäßigen Ausbeuten, auf eine Stufe, mit hoher Ausbeute, zu verkürzen.rnEs wurden mehrere COX-Inhibitoren identifiziert. MSD4a, MSD4h, MSD5a und MSD5h konnten als COX-1-, COX-2- und 5-LOX-Hemmer identifiziert werden. Besonders hervorzuheben ist die Verbindung MSD5h, die zusätzlich zur COX-1-, COX-2- und 5-LOX-Inhibition eine leichte Hemmung im Hydroxylradikalfänger-Assay zeigt, für die ein clog P-Wert von 2,65 berechnet wurde und die im XTT-Zytotoxizitätstestsystem, selbst bei einer Konzentration von 100 µM, kaum toxische Eigenschaften besitzt.rnWeiterhin war es möglich zu zeigen, dass Carbonsäuren gute Hydroxylradikalfängereigenschaften in unserem, auf der Fenton-Reaktion basierenden, Testsystem haben. Die Potenz der Carbonsäuren MSD8b und MSD11j im Vergleich zu den unwirksamen korrespondierenden Ester MSD8a und MSD11i führte zu Untersuchungen mit weiteren Carbonsäuren und deren Ester. Um den Wirkungsmechanismus zu erforschen wurde das Testsystem modifiziert, um eine Komplexierung der Eisenionen durch die Carbonsäuren auszuschließen. An Hand der Substanzen MSD8b und MSD11j wurde nachgewiesen, dass diese mit dem Hydroxylradikal reagieren, ohne zu decarboxylieren oder andere Zerfallsreaktionen einzugehen.rnZusätzlich zu den Untersuchungen der Enzym-Inhibition sowie des Hydroxylradikal-Scavenings wurden Molecular Modelling Studien durchgeführt. Die Ergebnisse der Dockingstudien in COX-1- (1eqg), COX-2- (1cx2) und in COX-1 mutierte COX-2-Kristallstrukturen (1cx2) führen zu einer kritischen Bewertung des folgenden Ansatzes: Es ist nicht unbedingt sinnvoll zuerst Strukturen mit dem Computer zu entwerfen und zu modeln und sie erst dann zu synthetisieren und in Enzym- oder Zellassays zu testen. Die Begründung dafür liegt in der Schwierigkeit einschätzen zu können, wie nah das gewählte Modell der Wirklichkeit ist. In den durchgeführten Dockingstudien konnte der sehr große Einfluss des kokristallisierten Liganden in der als Grundlage dienenden Kristallstruktur auf die Dockingergebnisse gezeigt werden. Durch einen zu kleinen kokristallisierten Liganden in der COX-1-Bindungstasche wurden als Ergebnis der Dockingstudie alle Verbindungen als nicht potent eingestuft, obwohl diese zum Teil im Enzymtestsystem wirksam waren. Dies konnte mit den Mutationsversuchen ausgeglichen werden. rnDeshalb kann man aus diesen Ergebnissen als Fazit ziehen, dass eine Strategie, Strukturen zu synthetisieren, in vitro zu testen und dabei die Strukturentwicklung mit Molecular Modelling Studien zu unterstützen, die Methode der Wahl darstellt.rn

Prediction of Cranio-Maxilofacial Surgical Planning using an Inverse Soft Tissue Modelling Approach

In cranio-maxillofacial surgery, the determination of a proper surgical plan is an important step to attain a desired aesthetic facial profile and a complete denture closure. In the present paper, we propose an efficient modeling approach to predict the surgical planning on the basis of the desired facial appearance and optimal occlusion. To evaluate the proposed planning approach, the predicted osteotomy plan of six clinical cases that underwent CMF surgery were compared to the real clinical plan. Thereafter, simulated soft-tissue outcomes were compared using the predicted and real clinical plan. This preliminary retrospective comparison of both osteotomy planning and facial outlook shows a good agreement and thereby demonstrates the potential application of the proposed approach in cranio-maxillofacial surgical planning prediction.

BPM software and process modelling languages in practice

IT has turned out to be a key factor for the purposes of gaining maturity in Business Process Management (BPM). This book presents a worldwide investigation that was conducted among companies from the ‘Forbes Global 2000’ list to explore the current usage of software throughout the BPM life cycle and to identify the companies’ requirements concerning process modelling. The responses from 130 companies indicate that, at the present time, it is mainly software for process description and analysis that is required, while process execution is supported by general software such as databases, ERP systems and office tools. The resulting complex system landscapes give rise to distinct requirements for BPM software, while the process modelling requirements can be equally satisfied by the most common languages (BPMN, UML, EPC).

Invited Abstract: Issues with State-based Energy Consumption Modelling

Energy consumption modelling by state based approaches often assume constant energy consumption values in each state. However, it happens in certain situations that during state transitions or even during a state the energy consumption is not constant and does fluctuate. This paper discusses those issues by presenting some examples from wireless sensor and wireless local area networks for such cases and possible solutions.

Modelling of the TICS Catalyse : Realization of a project

An action of modelling of the Territorial Intelligence Community Systems or TICS began in 2009 at the end of the CaEnti project. It has several objectives: - Establish a set of documents understandable by computer specialists who are in charge of software developments, and by territorial intelligence specialists. - Lay the foundation of a vocabulary describing the main notions of TICS domain. - Ensure the evolution and sustainability of tools and systems, in a highly scalable research context. The definition of models representing the data manipulated by the tools of the suitcase Catalyse is not sufficient to describe in a complete way the TICS domain. We established a correspondence between this computer vocabulary and vocabulary related to the theme to allow communication between computer scientists and territorial intelligence specialists. Furthermore it is necessary to describe the roles of TICS. For that it is interesting to use other kinds of computing models. In this communication we present the modelling of TICS project with business process

Modelling of the TICS Catalyse : Realization of a project

An action of modelling of the Territorial Intelligence Community Systems or TICS began in 2009 at the end of the CaEnti project. It has several objectives: - Establish a set of documents understandable by computer specialists who are in charge of software developments, and by territorial intelligence specialists. - Lay the foundation of a vocabulary describing the main notions of TICS domain. - Ensure the evolution and sustainability of tools and systems, in a highly scalable research context. The definition of models representing the data manipulated by the tools of the suitcase Catalyse is not sufficient to describe in a complete way the TICS domain. We established a correspondence between this computer vocabulary and vocabulary related to the theme to allow communication between computer scientists and territorial intelligence specialists. Furthermore it is necessary to describe the roles of TICS. For that it is interesting to use other kinds of computing models. In this communication we present the modelling of TICS project with business process

Modelling of the TICS Catalyse : Realization of a project

An action of modelling of the Territorial Intelligence Community Systems or TICS began in 2009 at the end of the CaEnti project. It has several objectives: - Establish a set of documents understandable by computer specialists who are in charge of software developments, and by territorial intelligence specialists. - Lay the foundation of a vocabulary describing the main notions of TICS domain. - Ensure the evolution and sustainability of tools and systems, in a highly scalable research context. The definition of models representing the data manipulated by the tools of the suitcase Catalyse is not sufficient to describe in a complete way the TICS domain. We established a correspondence between this computer vocabulary and vocabulary related to the theme to allow communication between computer scientists and territorial intelligence specialists. Furthermore it is necessary to describe the roles of TICS. For that it is interesting to use other kinds of computing models. In this communication we present the modelling of TICS project with business process