Kinematics and Local Motion Planning for Quasi-static Whole-body Mobile Manipulation

This thesis studies mobile robotic manipulators, where one or more robot manipulator arms are integrated with a mobile robotic base. The base could be a wheeled or tracked vehicle, or it might be a multi-limbed locomotor. As robots are increasingly deployed in complex and unstructured environments, the need for mobile manipulation increases. Mobile robotic assistants have the potential to revolutionize human lives in a large variety of settings including home, industrial and outdoor environments.

Mobile Manipulation is the use or study of such mobile robots as they interact with physical objects in their environment. As compared to fixed base manipulators, mobile manipulators can take advantage of the base mechanism’s added degrees of freedom in the task planning and execution process. But their use also poses new problems in the analysis and control of base system stability, and the planning of coordinated base and arm motions. For mobile manipulators to be successfully and efficiently used, a thorough understanding of their kinematics, stability, and capabilities is required. Moreover, because mobile manipulators typically possess a large number of actuators, new and efficient methods to coordinate their large numbers of degrees of freedom are needed to make them practically deployable. This thesis develops new kinematic and stability analyses of mobile manipulation, and new algorithms to efficiently plan their motions.

I first develop detailed and novel descriptions of the kinematics governing the operation of multi- limbed legged robots working in the presence of gravity, and whose limbs may also be simultaneously used for manipulation. The fundamental stance constraint that arises from simple assumptions about friction and the ground contact and feasible motions is derived. Thereafter, a local relationship between joint motions and motions of the robot abdomen and reaching limbs is developed. Baseeon these relationships, one can define and analyze local kinematic qualities including limberness, wrench resistance and local dexterity. While previous researchers have noted the similarity between multi- fingered grasping and quasi-static manipulation, this thesis makes explicit connections between these two problems.

The kinematic expressions form the basis for a local motion planning problem that that determines the joint motions to achieve several simultaneous objectives while maintaining stance stability in the presence of gravity. This problem is translated into a convex quadratic program entitled the balanced priority solution, whose existence and uniqueness properties are developed. This problem is related in spirit to the classical redundancy resoxlution and task-priority approaches. With some simple modifications, this local planning and optimization problem can be extended to handle a large variety of goals and constraints that arise in mobile-manipulation. This local planning problem applies readily to other mobile bases including wheeled and articulated bases. This thesis describes the use of the local planning techniques to generate global plans, as well as for use within a feedback loop. The work in this thesis is motivated in part by many practical tasks involving the Surrogate and RoboSimian robots at NASA/JPL, and a large number of examples involving the two robots, both real and simulated, are provided.

Finally, this thesis provides an analysis of simultaneous force and motion control for multi- limbed legged robots. Starting with a classical linear stiffness relationship, an analysis of this problem for multiple point contacts is described. The local velocity planning problem is extended to include generation of forces, as well as to maintain stability using force-feedback. This thesis also provides a concise, novel definition of static stability, and proves some conditions under which it is satisfied.

New indolium fluorofores for two-photon absortion (2PA) bioimaging applications

The development of organic materials with 2PA has attracted intensive attention in the past two decades [1]. In two-photon bio-imaging applications the design of the chromophore requires to have a good cross-section (σ2PA) and good biological compatibility which depends on the molecular volume and polarity [2]. In this work, we present the design, synthesis and characterization of new indolium derivatives. These compounds are easy to achieve with good yields and good photophysical properties. In addition, time-dependent density functional theory (TDDFT) has been carried out to investigate the energy level of the ground and excited state. Their spectral properties and assays performed on cultured cells, demonstrate the potential of these compounds as fluorescent probes with application in two-photon bio-imaging.

From Passive to Active Community Conservation: A Study of Forest Governance in a Region of the Sierra Norte of Oaxaca, Mexico

This thesis investigates how seven communities in a subregion of the Sierra Norte of Oaxaca are conserving high forest cover in the absence of national protected areas. To conduct this study I relied on archival research and the review of community documents, focus group interviews and land use transects to explore historical and current land use. I found that communities have conserved 88.34% of the subregion as forest cover, or 58,596 hectares out of a total territory of 66,264 hectares. Analysis suggests that the communities have undergone a historical transition from more passive conservation to more active, conscious conservation particularly in the last decade. This thesis further contends that communities deserve additional financial compensation for this active conservation of globally important forests for biodiversity conservation and that exercises in systematic conservation planning ignore the reality that existing biodiversity conservation in the subregion is associated with community ownership.

La progettazione nella scuola tra conservazione e innovazione: elementi di continuita e discontinuita. Una ricerca empirica sugli atteggiamenti e le dichiarazioni degli insegnanti negli Istituti Comprensivi della Provincia di Udine e nelle scuole statali italiane in Spagna.

La presente ricerca è rivolta allo studio della progettazione scolastica ed è stata finalizzata all’osservazione dell’impatto prodotto su di essa dalla progressiva introduzione dei nuovi documenti di progettazione oggi in uso nelle scuole italiane. Al fine di delineare i costrutti fondamentali da indagare è stato realizzato uno studio preliminare della letteratura scientifica di riferimento a partire dal dibattito statunitense sul curricolo avviato a inizio Novecento. Dopo una ricognizione sui successivi studi realizzati in ambito nordamericano ed europeo, una parte della ricerca è stata specificamente dedicata al dibattito nel contesto italiano. L’ultima parte di questo percorso è stata rivolta alla recente ripresa di interesse verso le ricerche sul curricolo e le nuove prospettive portate dall’internazionalizzazione di questi studi dovute all’opera dei cosiddetti riconcettualizzatori. La seconda parte della ricerca è stata dedicata allo studio della normativa scolastica italiana in tema di progettazione a partire dal secondo dopoguerra. Particolare attenzione è stata data alle riforme degli ultimi due decenni. Su queste basi teoriche e concettuali è stato quindi predisposto il percorso di ricerca empirica realizzato nelle scuole campione e la successiva analisi dei dati raccolti. Lo scopo della ricerca è stato quello di evidenziare e quantificare l’entità e la natura dei potenziali elementi di continuità e di discontinuità presenti nel sistema di progettazione scolastica attraverso la voce dei docenti che operano sul campo. Il campione è stato individuato tra gli istituti comprensivi della provincia di Udine. Una ricerca analoga è stata condotta presso le scuole statali italiane in Spagna, nelle città di Madrid e Barcellona, dove ancora non sono state introdotte le nuove pratiche di progettazione. Questo ha consentito di poter comparare i dati in un contesto paragonabile a quello previgente in Italia e di fare ulteriori valutazioni sull’impatto prodotto sul lavoro dei docenti dall’introduzione dei nuovi documenti di progettazione.

Relative influence of gaze and static arm position in the Superior Parietal Lobule of the macaque monkey during reaching

The superior parietal lobule (SPL) of macaques is classically described as an associative cortex implicated in visuospatial perception, planning and control of reaching and grasping movements (De Vitis et al., 2019; Galletti et al., 2003, 2018, 2022; Fattori et al., 2017; Hadjidimitrakis et al., 2015). These processes are the result of the integration of signals related to different sensory modalities. During a goal-directed action, eye and limb information are combined to ensure that the hand is transported at the gazed target location and the arm is maintained steady in the final position. The SPL areas V6A, PEc and PE contain cells sensitive to the direction of gaze and limb position but less is known about the degree of independent encoding of these signals. In this thesis, we evaluated the influence of eye and arm position information upon single neuron activity of areas V6A, PEc and PE during the holding period after the execution of arm reaching movement, when the gaze and hand are both still at the reach target. Two male macaques (Macaca fascicularis) performed a reaching task while single unit activity was recorded from areas V6A, PEc and PE. We found that neurons in all these areas were modulated by eye and static arm positions with a joint encoding of gaze and somatosensory signals in V6A and PEc and a mostly separate processing of the two signals in PE. The elaboration of this information reflects the functional gradient found in the SPL with the caudal sector characterized by visuo-somatic properties in comparison to the rostral sector dominated by somatosensory signals. This evidence well agree also with the recent reallocation of areas V6A and PEc in Brodmann’s area 7 depending on their similar structural and functional features with respect to PE belonging to Brodmann’s area 5 (Gamberini et al., 2020).

A abordagem centrada na pessoa e a psicologia do esporte : vivência de um psicólogo com jogadores e a comissão técnica de uma equipe durante os períodos de preparação e disputa da Copa São Paulo de Futebol Júnior

Universidade Estadual de Campinas . Faculdade de Educação Física

Self-perception and malocclusion and their relation to oral appearance and function

The aim of this study was to evaluate the relationship between malocclusion and self-perception of oral appearance/function, in 12/15-year-old Brazilian adolescents. The cluster sample consisted of 717 teenagers attending 24 urban public (n=611) and 5 rural public (n=107) schools in Maringá/PR. Malocclusion was measured using the Dental Aesthetic Index (DAI), in accordance with WHO recommendations. A parental questionnaire was applied to collect information on esthetic perception level and oral variables related to oral health. Univariate and multiple logistic regression analyses were performed. Multiple logistic regression confirmed that for 12-year-old, missing teeth (OR=2.865) and presence of openbite (open occlusal relationship) (OR=2.865) were risk indicators for speech capability. With regard to 15-year-old, presence of mandibular overjet (horizontal overlap) (OR=4.016) was a risk indicator for speech capability and molar relationship (OR=1.661) was a risk indicator for chewing capability. The impact of malocclusion on adolescents' life was confirmed in this study. Speech and chewing capability were associated with orthodontic deviations, which should be taken into consideration in oral health planning, to identify risk groups and improve community health services.

Loss minimization by the predictor-corrector modified barrier approach

This paper presents a new approach, predictor-corrector modified barrier approach (PCMBA), to minimize the active losses in power system planning studies. In the PCMBA, the inequality constraints are transformed into equalities by introducing positive auxiliary variables. which are perturbed by the barrier parameter, and treated by the modified barrier method. The first-order necessary conditions of the Lagrangian function are solved by predictor-corrector Newton`s method. The perturbation of the auxiliary variables results in an expansion of the feasible set of the original problem, reaching the limits of the inequality constraints. The feasibility of the proposed approach is demonstrated using various IEEE test systems and a realistic power system of 2256-bus corresponding to the Brazilian South-Southeastern interconnected system. The results show that the utilization of the predictor-corrector method with the pure modified barrier approach accelerates the convergence of the problem in terms of the number of iterations and computational time. (C) 2008 Elsevier B.V. All rights reserved.

A Step-by-Step Approach to Transit Oriented Development Project Delivery

A major challenge in successfully implementing transit-oriented development (TOD) is having a robust process that ensures effective appraisal, initiation and delivery of multi-stakeholder TOD projects. A step-by step project development process can assist in the methodic design, evaluation, and initiation of TOD projects. Successful TOD requires attention to transit, mixed-use development and public space. Brisbane, Australia provides a case-study where recent planning policies and infrastructure documents have laid a foundation for TOD, but where barriers lie in precinct level planning and project implementation. In this context and perhaps in others, the research effort needs to shift toward identification of appropriate project processes and strategies. This paper presents the outcomes of research conducted to date. Drawing on the mainstream approach to project development and financial evaluation for property projects, key steps for potential use in successful delivery of TOD projects have been identified, including: establish the framework; location selection; precinct context review; preliminary precinct design; the initial financial viability study; the decision stage; establishment of project structure; land acquisition; development application; and project delivery. The appropriateness of this mainstream development and appraisal process will be tested through stakeholder research, and the proposed process will then be refined for adoption in TOD projects. It is suggested that the criteria for successful TOD should be broadened beyond financial concerns in order to deliver public sector support for project initiation.

The eyes of deep-sea fish I: Lens pigmentation, tapeta and visual pigments

Deep-sea fish, defined as those living below 200 m, inhabit a most unusual photic environment, being exposed to two sources of visible radiation: very dim downwelling sunlight and bioluminescence, both of which are, in most cases. maximal at wavelengths around 450-500 nm. This paper summarises the reflective properties of the ocular tapeta often found in these animals the pigmentation of their lenses and the absorption characteristics of their visual pigments. Deepsea tapeta usually appear blue to the human observer. reflecting mainly shortwave radiation. However, reflection in other parts of the spectrum is not uncommon and uneven tapetal distribution across the retina is widespread. Perhaps surprisingly, given the fact that they live in a photon limited environment, the lenses of some deep-sea teleosts are bright yellow, absorbing much of the shortwave part of the spectrum. Such lenses contain a variety of biochemically distinct pigments which most likely serve to enhance the visibility of bioluminescent signals. Of the 195 different visual pigments characterised by either detergent extract or microspectrophotometry in the retinae of deep-sea fishes, cn. 87% have peak absorbances within the range 468-494 nm. Modelling shows that this is most likely an adaptation for the detection of bioluminescence. Around 13% of deep-sea fish have retinae containing more than one visual pigment. Of these, we highlight three genera of stomiid dragonfishes, which uniquely produce far red bioluminescence from suborbital photophores. Using a combination of longwave-shifted visual pigments and in one species (Malacosteus niger) a chlorophyll-related photosensitizer. these fish have evolved extreme red sensitivity enabling them to see their own bioluminescence and giving them a private spectral waveband invisible to other inhabitants of the deep-ocean. (C) 1998 Elsevier Science Ltd. All rights reserved.

Patrimônio territorial integrado e espaço cotidiano : o planejamento urbano interativo do centro de Vitória (ES)

O conceito de patrimônio territorial e cultural amplia o conceito tradicional de patrimônio, segundo o qual o monumento se restringe a sua materialidade e permanece isolado de seu território. A ambiência e a vivência desse patrimônio ganham importância visto que são essenciais ao seu reconhecimento e a impressão de pertencimento e de identificação por parte de seus usuários. Tais conceitos vão de encontro à mercantilização do patrimônio e ao seu uso puramente turístico, tão comuns na contemporaneidade. Este trabalho traz estudos e discussões referentes ao tema, que auxiliaram na análise da evolução histórica de Vitória, tendo sua origem na região central. Tais abordagens levaram ao entendimento da construção da cidade e dos resultados encontrados na atualidade decorrentes desse desenvolvimento. O conhecimento sobre a temática do patrimônio territorial e cultural e o entendimento histórico do Centro de Vitória tornaram possíveis algumas avaliações referentes aos procedimentos adotados no Planejamento Urbano Interativo do Centro, um programa elaborado pela prefeitura de Vitória em 2006.

Aumento de capacidade em sistemas MIMO coordenados para advanced LTE com utilização de repetidores fixos

Com vista a revolucionar o sector das comunicações móveis, muito à custa dos elevados débitos prometidos, a tecnologia LTE recorre a uma técnica que se prevê que seja bastante utilizada nas futuras redes de comunicações móveis: Relaying. Juntamente com esta técnica, o LTE recorre à técnica MIMO, para melhorar a qualidade da transmissão em ambientes hostis e oferecer elevados ritmos de transmissão. No planeamento das próximas redes LTE, o recurso à técnica Relaying é frequente. Esta técnica, tem como objectivo aumentar a cobertura e/ou capacidade da rede, e ainda melhorar o seu desempenho em condições de fronteira de célula. A performance de uma RS depende da sua localização, das condições de propagação do canal rádio a que tanto a RS como o EU estão sujeitos, e ainda da capacidade que a RS tem de receber, processar e reencaminhar a informação. O objectivo da tese é estudar a relação existente entre o posicionamento de uma RS e o seu desempenho. Desta forma, pretende-se concluir qual a posição ideal de uma RS (tanto do tipo AF como SDF). Para além deste estudo, é apresentado um comparativo do desempenho dos modos MIMO TD e OL-SM, onde se conclui em que condições deverão ser utilizados, numa rede LTE equipada com FRSs.

Planeamento e optimização em redes celulares móveis auto-geridas assentes em LTE

O objectivo deste trabalho consiste em avaliar os benefícios das Self Organizing Networks (SON), no que concerne ao planeamento e optimização de redes Long Term Evolution (LTE), não só através do seu estudo, como também através do desenvolvimento e teste de algoritmos, que permitem avaliar o funcionamento de algumas das suas principais funções. O estudo efectuado sobre as SON permitiu identificar um conjunto de funções, tais como a atribuição automática de Physical Cell Id (PCI), o Automatic Neighbour Relation (ANR) e a optimização automática de parâmetros de handover, que permitem facilitar ou mesmo substituir algumas das tarefas mais comuns em planeamento e optimização de redes móveis celulares, em particular, redes LTE. Recorrendo a um simulador LTE destinado à investigação académica, em código aberto e desenvolvido em Matlab®, foi desenvolvido um conjunto de algoritmos que permitiram a implementação das funções em questão. Para além das funções implementadas, foram também introduzidas alterações que conferem a este simulador a capacidade de representar e simular redes reais, permitindo uma análise mais coerente dos algoritmos desenvolvidos. Os resultados obtidos, para além de evidenciarem claramente o benefício dos algoritmos desenvolvidos, foram ainda comparados com os obtidos pela ferramenta profissional de planeamento e optimização Atoll®, tendo-se verificado a franca proximidade de desempenho em algumas das funções. Finalmente, foi desenvolvida uma interface gráfica que permite o desenho, configuração e simulação de cenários, bem como a análise de resultados.

Estudo dosimétrico comparativo do Acuros® XB: algoritmo avançado de cálculo de dose com o AAA – Anisotropic Analytical Alghorithm, em tratamentos de radioterapia externa com a técnica de RapidArc™

Mestrado em Radioterapia.