Two-step digit-set-restricted modified signed-digit addition-subtraction algorithm and its optoelectronic implementation

A novel, to our knowledge, two-step digit-set-restricted modified signed-digit (MSD) addition-subtraction algorithm is proposed. With the introduction of the reference digits, the operand words are mapped into an intermediate carry word with all digits restricted to the set {(1) over bar, 0} and an intermediate sum word with all digits restricted to the set {0, 1}, which can be summed to form the final result without carry generation. The operation can be performed in parallel by use of binary logic. An optical system that utilizes an electron-trapping device is suggested for accomplishing the required binary logic operations. By programming of the illumination of data arrays, any complex logic operations of multiple variables can be realized without additional temporal latency of the intermediate results. This technique has a high space-bandwidth product and signal-to-noise ratio. The main structure can be stacked to construct a compact optoelectronic MSD adder-subtracter. (C) 1999 Optical Society of America.

Algoritmo para la identificación de las ganancias óptimas del algoritmo de control de posición de un mecanismo de cinemática paralela

[ES]Este trabajo presenta un algoritmo automatizado cuyo resultado es la determinación de las ganancias óptimas del lazo de control de un mecanismo de cinemática paralela. En concreto se ha aplicado al mecanismo 5R, aunque el método es válido para cualquier otro mecanismo introduciendo el modelo mecatrónico correspondiente. Permite disponer de un procedimiento para poder elegir en un futuro la combinación de motor y reductora más apropiada para un determinado mecanismo evitando realizar adquisiciones sobredimensionadas, como ocurrió con el mecanismo en cuestión.

On an embedding property of generalized Carter subgroups

If E and F are saturated formations, we say that E is strongly contained in F if for any solvable group G with E-subgroup, E, and F-subgroup, F, some conjugate of E is contained in F. In this paper, we investigate the problem of finding the formations which strongly contain a fixed saturated formation E.

Our main results are restricted to formations, E, such that E = {G|G/F(G) ϵT}, where T is a non-empty formation of solvable groups, and F(G) is the Fitting subgroup of G. If T consists only of the identity, then E=N, the class of nilpotent groups, and for any solvable group, G, the N-subgroups of G are the Carter subgroups of G.

We give a characterization of strong containment which depends only on the formations E, and F. From this characterization, we prove:

If T is a non-empty formation of solvable groups, E = {G|G/F(G) ϵT}, and E is strongly contained in F, then

(1) there is a formation V such that F = {G|G/F(G) ϵV}.

(2) If for each prime p, we assume that T does not contain the class, S_p’, of all solvable p’-groups, then either E = F, or F contains all solvable groups.

This solves the problem for the Carter subgroups.

We prove the following result to show that the hypothesis of (2) is not redundant:

If R = {G|G/F(G) ϵS_r’}, then there are infinitely many formations which strongly contain R.

Análisis Dinámico de mecanismos paralelos con requisitos de diseño mecatrónico

[ES]El objetivo del presente TFG es el Análisis Dinámico de mecanismos paralelos según las necesidades de la mecatrónica. La mecatrónica requiere expresiones explícitas de las fuerzas motoras que sólo dependen de las propias posiciones, velocidades y aceleraciones en los accionamientos. Ello requiere métodos avanzados de la mecánica analítica de sólido rígido. Concretamente se han desarrollado la ecuación de Lagrange modificada (según [11]) y la ecuación de Boltzmann-Hamel modificada, siendo esta última una aportación de este TFG. Como aplicación práctica se ha programado un modelo mecatrónico para un manipulador paralelo 5R y se ha optimizado el diseño de una Multi Axis Simulation Table 3PRS.

A novel method to design flexible URAs

Aperture patterns play a vital role in coded aperture imaging ( CAI) applications. In recent years, many approaches were presented to design optimum or near-optimum aperture patterns. Uniformly redundant arrays (URAs) are, undoubtedly, the most successful for constant sidelobe of their periodic autocorrelation function. Unfortunately, the existing methods can only be used to design URAs with a limited number of array sizes and fixed autocorrelation sidelobe-to-peak ratios. In this paper, we present a novel method to design more flexible URAs. Our approach is based on a searching program driven by DIRECT, a global optimization algorithm. We transform the design question to a mathematical model, based on the DIRECT algorithm, which is advantageous for computer implementation. By changing determinative conditions, we obtain two kinds of types of URAs, including the filled URAs which can be constructed by existing methods and the sparse URAs which have never been mentioned by other authors as far as we know. Finally, we carry out an experiment to demonstrate the imaging performance of the sparse URAs.

Design of NRAs having higher aperture opening ratio and autocorrelation compression ratio by means of a global optimization method

When noises considerations are made, nonredundant arrays (NRAs) are endowed with many advantages which other arrays e.g., uniformly redundant arrays (URAs) do not possess in applications of coded aperture imaging. However, lower aperture opening ratio limits the applications of NRA in practice. In this paper, we present a computer searching method based on a global optimization algorithm named DIRECT to design NRAs. Compared with the existing NRAs e.g., Golay's NRAs, which are well known and widely used in various applications, NRAs found by our method have higher aperture opening ratio and auto correlation compression ratio. These advantages make our aperture arrays be very useful for practical applications especially for which of aperture size are limited. Here, we also present some aperture arrays we found. These aperture arrays have an interesting property that they belong to both NRA and URA. (C) 2006 Elsevier GmbH. All rights reserved.

Diseño mecánico de manipulador paralelo XY.

[ES]El proyecto consiste en el desarrollo mecánico de un manipulador paralelo basado en un mecanismo de cadena cerrada y 5 pares de rotación moviéndose en un mismo plano, de modo que cubra un espacio de manipulación previamente definido. Para ello se realizan los diseños en programas de CAD y se realizan los planos de diseño y montaje con el objetivo de posteriormente llevar el diseño a la realidad.

Structural Synthesis of 3-DoF Spatial Fully Parallel Manipulators

In this paper, the architectures of three degrees of freedom (3-DoF) spatial, fully parallel manipulators (PMs), whose limbs are structurally identical, are obtained systematically. To do this, the methodology followed makes use of the concepts of the displacement group theory of rigid body motion. This theory works with so-called 'motion generators'. That is, every limb is a kinematic chain that produces a certain type of displacement in the mobile platform or end-effector. The laws of group algebra will determine the actual motion pattern of the end-effector. The structural synthesis is a combinatorial process of different kinematic chains' topologies employed in order to get all of the 3-DoF motion pattern possibilities in the end-effector of the fully parallel manipulator.

Diseño de una junta esférica flexible para un manipulador de alta precisión.

ES]El Trabajo Fin de Grado que se presenta a continuación tiene como objetivo principal el diseño de una unión flexible que formará parte de las patas de un robot de cinemática paralela. Por la propia arquitectura de estos mecanismos, y para dotar a la plataforma de movimientos precisos, esta unión, ubicada en la parte superior de las patas, debe deformarse al ser sometida a esfuerzos de flexión y torsión. Se realiza un adecuado diseño que maximice las deformaciones de dicha unión a la par que se garantiza una adecuada duración de la misma para la aplicación requerida. A su vez, se comprueba que las tensiones a las que se verá sometida no superan el límite de fluencia del material elegido. Todo ello se realiza de forma computacional mediante el método de los elementos finitos.

Análisis cinemático de una máquina de cinemática híbrida XY3PRS.

[Es]El objetivo principal de este Trabajo Fin de Grado consiste en calcular los movimientos que son necesarios en los actuadores de la plataforma de un mecanismo de cinemática paralela, a fin de poder localizar la pieza en la posición adecuada para poder llevar a cabo la operación de microfresado de la misma. Para desarrollar el proyecto se necesitará un software de programación como es Matlab. Este trabajo surge de la necesidad de dar soporte a un proyecto mayor que consiste en el diseño de un manipulador de cinemática paralela cuyas juntas funcionan por deformación. Se pretende que mientras la herramienta se encuentra inmóvil, se consiga el microfresado de moldes para la fabricación de microlentes mediante el movimiento del manipulador. Se ha resuelto la cinemática inversa y se ha calculado el espacio de trabajo. En este documento se van a presentar las tareas, el presupuesto y los riesgos del proyecto así como unos anexos en los que se incluirá el código de la programación.

Dimensionamiento geométrico y resistente de manipulador paralelo XY.

[ES]Se trata de diseñar, programar, fabricar y montar un manipulador paralelo de 5 pares de revolución, que sirva para el atrape y posterior desplazamiento de objetos pequeños en un área de trabajo determinado. Este proyecto se centra exclusivamente en el análisis cinemático, resistente y posterior optimización del diseño del mecanismo de barras del manipulador.

Regional Fisheries Advisory Committee 12th July, 1979.

This is the report from the Regional Fisheries Advisory Committee meeting, which was held on the 12th July 1979. The report contains the minutes of the last meetings of the Local Fisheries Advisory Committees, the income from sale of rod and line licences, fishing offences and prosecutions, and information on the disposal of redundant properties. The Fisheries Advisory Committee was part of the Regional Water Authorities, in this case the North West Water Authority. This preceded the Environment Agency which came into existence in 1996.

South Lancashire Fisheries Advisory Committee 9th January, 1980.

This is the report from the South Lancashire Fisheries Advisory Committee meeting, which was held on the 9th January 1980. The report contains sections on the minutes of the Special Meeting held on 13rd December 1979, net and fixed engine licence duties, EEC Directive on the quality of freshwaters, the market survey at Worthington Lakes, disposal of redundant reservoirs and a fisheries activities report. The section on the fisheries activities reported by the area fisheries officer looks at river conditions, fishing and migratory fish movement on Rivers Ribble and Hodder (Winckley, Waddow and Locks weir), an update on Langcliffe and Pilot Hatchery, and stocking carried out by Angling Associations and the Water Authority. The Fisheries Advisory Committee was part of the Regional Water Authorities, in this case the North West Water Authority. This preceded the Environment Agency which came into existence in 1996.

太行花MADS-box基因克隆、表达模式及功能分析

基因的重复（duplication）及其功能的多样性（diversification）为生物体新的形态进化提供了原材料。重复的基因通过表达方式和（或）编码序列的改变而导致其亚功能化（subfunctionalization）和（或）新功能化（neofunctionalization），从而使这些重复基因有可能保留在生物体中，增添生物的遗传稳定性（robustness）和多样性。MADS-box基因在植物（特别是在被子植物）的进化过程中发生了大量的基因重复事件而形成一个多基因家族。MADS-box基因家族的不同成员在植物生长发育过程中起着非常重要的作用，在调控开花时间、决定花分生组织和花器官特征，以及调控根、叶、胚珠及果实的发育中起着广泛的作用。开展对MADS-box基因家族成员的序列结构、表达模式及编码蛋白的功能研究可以为这些同源基因在生物体中的可能命运提供很好的实验依据。本研究以我国特有的蔷薇科物种太行花做实验材料，通过3’ RACE和5’ RACE方法从太行花中克隆了7个MADS-box家族的基因。序列和系统进化树分析表明这7个基因分别与拟南芥的MADS-box基因AG、SHP（SHP1/2）、PI、AP1、FUL和SEP1以及与矮牵牛MADS-box基因PhTM6具有很高的同源性并聚为一支，从而将这7个MADS-box基因分别命名为TrAG（Taihangia rupestris AG）、TrSHP（Taihangia rupestris SHP）、TrPI（Taihangia rupestris PI）、TrAP1（Taihangia rupestris AP1）、TrFUL（Taihangia rupestris FUL）、TrSEP1（Taihangia rupestris SEP1）和TrTM6（Taihangia rupestris PhTM6）。针对克隆的这些基因，具体进行了以下几方面的研究： 第一，对TrAG和TrSHP两个MADS-box基因进行了研究，它们分别属于AG亚家族中旁系同源进化系euAG和PLE进化系的成员。通过原位杂交的方法分析了旁系同源基因TrAG和TrSHP的表达方式是否发生了分化;构建组成型表达载体转化野生型拟南芥，分析了TrAG和TrSHP的编码蛋白的功能是否发生了改变;并进一步通过酵母双杂交的方法比较了TrAG和TrSHP的相互作用方式是否发生了分化。原位杂交分析表明，TrAG和TrSHP主要在雄蕊、心皮和胚珠中表达。在花发育过程中，TrAG起始表达比TrSHP早，在随后将形成雄蕊和心皮原基的分生组织区域以及雄蕊原基中表达;然而直到雄蕊原基出现前未检测到TrSHP的表达。在雄蕊原基形成之后，TrAG和TrSHP在发育的雄蕊、随后将产生心皮原基的分生组织区域以及心皮原基中表达。在花发育的晚期，TrAG在发育的柱头、花柱以及胚珠中均有表达，而TrSHP仅在胚珠中表达。35S::TrAG和35S::TrSHP转基因拟南芥植株表现出相似的表型，包括开花提前;莲座叶和茎生叶向腹卷曲、变小;花芽在时期13前即开放，萼片包裹不住花芽;萼片和花瓣分别被同源异型转化为心皮化和雄蕊化器官，并在萼片向腹面产生异位的胚珠;在茎生叶上产生柱头化的乳突和胚珠;子房弯曲;果实提前沿着开裂区裂开，暴露出胚珠。此外，也观察到35S::TrAG和35S::TrSHP转基因拟南芥植株的一些表型差异，35S::TrAG转基因拟南芥植株花芽呈暗绿色，而35S::TrSHP转基因拟南芥植株花芽呈黄绿色;不同与35S::TrAG转基因植株表型的是，35S::TrSHP转基因拟南芥植株花被脱落受到了抑制，偶尔可以观察到花丝基部融合，果实变短、育性降低。酵母双杂交分析表明TrAG可以与TrSEP3相互作用，而TrSHP不能与TrSEP3形成异源二聚体。以上研究结果表明做为旁系同源基因，TrAG和TrSHP在表达方式上发生了改变，在蛋白编码序列上保持了其祖先的功能，但是编码序列的一些差异还是导致它们之间生化作用方式的不同和一定程度上的亚功能化。基于以上研究结果并结合先前报道的在拟南芥、金鱼草和矮牵牛等物种中旁系同源基因的表达和功能数据，我们提出在不同物种中旁系同源基因在进化过程中维持部分功能冗余（redundant），但是也通过改变表达方式、编码蛋白的功能及蛋白相互作用方式呈现出不同形式的亚功能化和（或）新功能化。 第二，对TrPI基因的功能也进行了初步研究，它属于AP3/PI亚家族PI-like进化系的成员。原位杂交结果表明，TrPI主要在花瓣、雄蕊和胚珠中表达。显示出TrPI与拟南芥同源基因PI保守的表达模式。35S::TrPI转基因拟南芥植株莲座叶发生延迟、变小、并且第一至第三片莲座叶呈白色针状;莲座叶和茎生叶并不像野生型呈有规则的螺旋状排列;花序茎基部、中间或顶端发生2-3个分支;在茎生叶的叶腋内的花序抽出时间明显晚于野生型，并且很小甚至不能完全抽出而藏在叶腋内。低温条件下转基因植株莲座叶的表型更加明显，表现为莲座叶变为针状，无叶片，仅有叶柄结构。这明显不同于35S::PI转基因拟南芥植株的表型。此外，酵母双杂交分析表明TrPI自身可以形成同源二聚体。这种相互作用方式也不同与拟南芥中PI的相互作用方式。以上研究结果表明，TrPI可能与拟南芥PI具有保守的表达模式但编码的蛋白可能获得了新的功能。 第三，构建了一个AP1-like基因（TrAP1）的过量表达载体，转化野生型拟南芥植株，通过反向遗传学分析了TrAP1的功能。35S::TrAP1转基因拟南芥植株开花提前;花序以两朵花终止，形成terminal flower的表型;偶尔可以观察到雄蕊转化为花瓣化的器官;莲座叶呈黄绿色并且其边缘呈锯齿状。酵母双杂交分析表明TrAP1蛋白自身可以形成同源二聚体。这些结果表明TrAP1可能与拟南芥同源基因AP1具有保守的功能。

ROBOT DYNAMIC CONTROL INSTABILITIES.

The authors demonstrate that a widely proposed method of robot dynamic control can be inherently unstable, due to an algebraic feedback loop condition causing an ill-posed feedback system. By focussing on the concept of ill-posedness a necessary and sufficient condition is derived for instability in robot manipulator systems which incorporate online acceleration cross-coupling control. Also demonstrated is a quasilinear multivariable control framework useful for assessing the robustness of this type of control when the instability condition is not obeyed.