Construção e controle inteligente de um manipulador robótico com dois graus de liberdade

The present work shows the development and construction of a robot manipulator with two rotary joints and two degrees of freedom, driven by three-phase induction motors. The positions of the arm and base are made, for comparison, by a fuzzy controller and a PID controller implemented in LabVIEW® programming environment. The robot manipulator moves in an area equivalent to a quarter of a sphere. Experimental results have shown that the fuzzy controller has superior performance to PID controller when tracking single and multiple step trajectories, for the cases of load and no load

A planar flexible robotic manipulator

Presents the dynamic modelling of a flexible robotic manipulator with two flexible links and two revolute joints, which rotates in the horizontal plane. The dynamic equations are derived using the Newton-Euler formulation and the finite element method, based on elementary beam theory, which is used to discretize the displacements such that the small motion is represented in terms of nodal displacements. Computer simulation results are presented to illustrate this study. The dynamic model becomes necessary for use in future design and control applications.

X-ARM: um modelo de representação de artefatos de software

A great challenge of the Component Based Development is the creation of mechanisms to facilitate the finding of reusable assets that fulfill the requirements of a particular system under development. In this sense, some component repositories have been proposed in order to answer such a need. However, repositories need to represent the asset characteristics that can be taken into account by the consumers when choosing the more adequate assets for their needs. In such a context, the literature presents some models proposed to describe the asset characteristics, such as identification, classification, non-functional requirements, usage and deployment information and component interfaces. Nevertheless, the set of characteristics represented by those models is insufficient to describe information used before, during and after the asset acquisition. This information refers to negotiation, certification, change history, adopted development process, events, exceptions and so on. In order to overcome this gap, this work proposes an XML-based model to represent several characteristics, of different asset types, that may be employed in the component-based development. Besides representing metadata used by consumers, useful for asset discovering, acquisition and usage, this model, called X-ARM, also focus on helping asset developers activities. Since the proposed model represents an expressive amount of information, this work also presents a tool called X-Packager, developed with the goal of helping asset description with X-ARM

The rigid-flexible nonlinear robotic manipulator: Modeling and control

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

Coupling between muscle activities and muscle torques during horizontal-planar arm movements with direction reversal

In this study we investigated the hypothesis that the simple set of rules used to explain the modulation of muscle activities during single-joint movements could also be applied for reversal movements of the shoulder and elbow joints. The muscle torques of both joints were characterized by a triphasic impulse. The first impulse of each joint accelerated the limb to the target and was generated by an initial burst of the muscles activated first (primary mover). The second impulse decelerated the limb to the target, reversed movement direction and accelerated the limb back to the initial position, and was generated by an initial burst of the muscles activated second (secondary movers). A third impulse, in each joint, decelerated the limb to the initial position due to the generation of a second burst of the primary movers. The first burst of the primary mover decreased abruptly, and the latency between the activation of the primary and secondary movers varied in proportion with target distances for the elbow, but not for the shoulder muscles. All impulses and bursts increased with target distances and were well coupled. Therefore, as predicted, the bursts of muscle activities were modulated to generate the appropriate level of muscle torque. (C) 2005 Elsevier Ltd. All rights reserved.

Head, eye and arm coordination in table tennis

The aim of this study was to determine the role of head, eye and arm movements during the execution of a table tennis forehand stroke. Three-dimensional kinematic analysis of line-of-gaze, arm and ball was used to describe visual and motor behaviour. Skilled and less skilled participants returned the ball to cued right or left target areas under three levels of temporal constraint: pre-, early- and late-cue conditions. In the pre- and early-cue conditions, both high and low skill participants tracked the ball early in flight and kept gaze stable on a location in advance of the ball before ball-bat contact. Skilled participants demonstrated an earlier onset of ball tracking and recorded higher performance accuracy than less skilled counterparts. The manipulation of cue condition showed the limits of adaptation to maintain accuracy on the target. Participants were able to accommodate the constraints imposed by the early-cue condition by using a shorter quiet eye duration, earlier quiet eye offset and reduced arm velocity at contact. In the late-cue condition, modifications to gaze, head and arm movements were not sufficient to preserve accuracy. The findings highlight the functional coupling between perception and action during time-constrained, goal-directed actions.

DUPLICATION OF THE SHORT ARM OF THE X-CHROMOSOME IN MOTHER AND DAUGHTER

An 11-year-old girl with short stature, mental retardation, and mild dysmorphic features was found to have an inverted duplication of most of the short arm of the X chromosome [dic inv dup(X)(qter --> p22.3 = p22.3 --> cen:)]. Her mother, who is also short and retarded, carries the same duplication. Fluorescence in situ hybridization with an X chromosome library, and with X centromere-specific alpha satellite and telomere probes, was useful in characterizing the duplication. In most females with structurally abnormal X chromosomes, the abnormal chromosome is inactivated. Although the duplicated X was consistently late replicating in the mother, X chromosome inactivation studies in the proband indicated that in 11 % of her lymphocytes the duplicated X was active.

Assessment of anaerobic power of swimmers: the correlation of laboratory tests on an arm ergometer with field tests in a swimming fool

The aim of this study was to verify the correlation between the Wingate arm crank test outputs (peak power, mean power, and fatigue index), obtained on a specific ergometer, and the performance in crawl stroke swim sprints of 14, 25, 50, and 400 m. The experiment was conducted with 9 healthy male volunteers (18.1 +/- 2.2 years of age; 172 +/- 0.04 cm; 67.7 +/- 5.92 kg and 15.7 +/- 4.57% body fat). on determined days, all individuals were submitted to the Wingate arm crank test and crawl freestyle sprints of 14, 25, 50, and 400 m as they were timed with a stopwatch. The peak power, the mean power, and the fatigue index, which were obtained during the Wingate arm crank test, were not significantly correlated with the maximum swim velocities during the crawl free-style tests of 14 (r = 0.40; r = 0.64; r = 0.11), 25 (r = 0.28; r = 0.39; r = -0.27), 50 (r = 0.03; r = 0.09; r = -0.31), and 400 (r = -0.52; r = -0.37; r = -0.65) m respectively. Thus, it is possible to conclude that the Wingate arm crank test is not suitable to assess the anaerobic power of swimmers under the described experimental conditions.

Dynamic modeling and simulation of a flexible robotic manipulator

This work focuses on the dynamic modeling of a flexible robotic manipulator with two flexible links and two revolute joints, which rotates in the horizontal plane. The dynamic equations are derived using the Newton-Euler formulation and the finite element method, based on elementary beam theory. Computer simulation results are presented to illustrate this study. The dynamic model becomes necessary for use in future design and control applications.

Gaze pursuit and arm control of adolescent males diagnosed with attention deficit hyperactivity disorder (ADHD) and normal controls: evidence of a dissociation in processing visual information of short and long duration

Three-dimensional kinematic analysis of line of gaze, arm and ball was used to describe the visual and motor behaviour of male adolescents diagnosed with attention deficit hyperactivity disorder (ADHD). The ADHD participants were tested when both on (ADHD-On) and off (ADHD-Off) their medication and compared to age-matched normal controls in a modified table tennis task that required tracking the ball and hitting to cued right and left targets. Long-duration information was provided by a pre-cue, in which the target was illuminated approximately 2 s before the serve, and short-duration information by an early-cue illuminated about 350 ms after the serve, leaving -500 ms to select the target and perform the action. The ADHD groups differed significantly from the control group in both the pre-cue and early-cue conditions in being less accurate, in having a later onset and duration of pursuit tracking, and a higher frequency of gaze on and off the ball. The use of medication significantly reduced the gaze frequency of the ADHD participants, but surprisingly this did not lead to an increase in pursuit tracking, suggesting a barrier was reached beyond which ball flight information could not be processed. The control and ADHD groups did not differ in arm movement onset, duration and velocity in the short-duration early-cue condition; in the long-duration pre-cue condition, however, the ADHD group's movement time onset and arm velocity differed significantly from controls. The results show that the ADHD groups were able to process short-duration information without experiencing adverse effects on their motor behaviour; however, long-duration information contributed to irregular movement control.

Electromyographic study of levator scapulae and rhomboideus major muscles in movements of the shoulder and arm

In 21 normal adult male subjects, the muscular activity of the levator scapulae and rhomboideus major muscles was studied electromyographically during the movements of the shoulder and arm. Two single coaxial needle electrodes were used for registering the action potentials. Concerning shoulder movement, it was shown that the levator scapulae was active in elevation and rhomboideus major was active in retraction. Both muscles were inactive during protrusion, in most events. Concerning free movements of the arm, both muscles were active in abduction, elevation, adduction, flexion and circumduction, but inactive in extension. During the same movements, performed with a load, we observed greater intensity in the activity of these muscles in comparison to their activity during free movements.

Electromyographic study of the trapezius (pars media) and rhomboideus major muscles in movements of the arm (part 1)

The participation of the trapezius (pars media) and rhomboideus major muscles in free movements of abduction, adduction, flexion, extension and hyperextension of the arm was studied electromyographically. These muscles were active and synergic in all analysed movements, both acting with intensity that ranged from moderate to very marked.