An Implemented of a Real-Time Experimental Setup for Robotic Teleoperation System

The development of this work presents the implementation of an experimental platform, which will permit to investigate on a methodology for the design and analysis of a teleoperated system, considering the delay in the communication channel. The project has been developed in partnership with the laboratory of Automatic and Robotics of the Universidad Politécnica de Madrid and the Laboratory at the Centro de Tecnologías Avanzadas de Manufactura at the Pontificia Universidad Católica del Perú. The mechanical structure of the arm that is located in the remote side has been built and the electric servomechanism has been mounted to control their movement. The experimental test of the Teleoperation system has been developed. The PC104 card commands the power interface and sensors of the DC motor of each articulation of the arm. Has developed the drives for the management of the operations of the master and the slave: send/reception of position, speed, acceleration and current data through a CAN network. The programs for the interconnection through a LAN network, between the Windows Operating System and the Real-time Operating System (QNX), has been developed. The utility of the developed platform (hardware and software) has been demonstrated.

Grasp Mapping Between a 3-Finger Haptic Device and a Robotic Hand

This paper presents the implementation of a robust grasp mapping between a 3-finger haptic device (master) and a robotic hand (slave). Mapping is based on a grasp equivalence defined considering the manipulation capabilities of the master and slave devices. The metrics that translate the human hand gesture to the robotic hand workspace are obtained through an analytical user study. This allows a natural control of the robotic hand. The grasp mapping is accomplished defining 4 control modes that encapsulate all the grasps gestures considered.

Monitorización de sistemas en alta disponibilidad

El objetivo del proyecto es implantar un sistema de monitorización, con la peculiaridad de encontrarse en alta disponibilidad, esto es, que el servicio (la monitorización de una infraestructura) se preste forma continua y no se vea interrumpido. Dado que el propósito del sistema es monitorizar activamente una infraestructura, ha sido necesario desplegar una infraestructura, además del sistema de monitorización. La infraestructura en cuestión está compuesta por un servidor de documentación, un servidor de base de datos, un servidor de aplicaciones y un servidor web. El sistema de monitorización se ha desplegado en la misma red de área local de esta infraestructura y monitoriza que los servicios prestados por los componentes de esta infraestructura se encuentren operativos y funcionando adecuadamente. Así pues, se tendría un sistema de monitorización local funcional. No obstante, el proyecto plantea un sistema escalable, que esté preparado para el crecimiento de la infraestructura y continúe siendo eficiente. Para ello, sistema de monitorización se encuentre dividido por dos componentes:  Sonda delegada: monitoriza localmente los activos de la infraestructura a monitorizar, es el escenario anteriormente descrito.  Sonda maestra: recibe los resultados de la monitorización realizada, este sistema puede estar desplegado en otra red distinta a la sonda delegada. Este enfoque no solo es escalable, sino también es fiel a la realidad, pues puede darse el caso de que las sondas pertenezcan a distintas infraestructuras e inclusive, distintas organizaciones, y se comuniquen a través de internet, mediante un mecanismo confiable a ser posible. El proyecto plantea que ambas sondas se encuentren en alta disponibilidad (en adelante HA, referente a high availability), y que cada sonda está compuesta por dos equipos (nodos, en adelante). Como se analizará en posteriores capítulos, existen diversas configuraciones que permiten implantar un sistema en HA, la configuración escogida para el proyecto es Activo – Pasivo(los detalles de esta configuración también se explican en posteriores capítulos). Para finalizar, se estudiara la posibilidad de ofrecer respuestas activas en ciertas situaciones y configuraciones adicionales sobre el sistema de monitorización base. Por otro lado, para la implantación del proyecto se ha usado software de código abierto para la virtualización de la infraestructura (Virtual Box y GNS3), los sistemas operativos base (Linux), el sistema de monitorización(Nagios Core) así como el software que implementa la HA (corosync y pacemaker).---ABSTRACT---The aim of the Project is to implement a monitoring system, with the peculiarity of being deployed in high availability, what it is that the service (monitoring infrastructure) is provided continuously and not interrupted. As the purpose of the system is monitoring infrastructure actively, an infrastructure has been deployed, and also the monitoring system. The infrastructure monitored is composed of a documentation server, a server database, an application server and a Web server. The monitoring system has been also deployed on the same LAN of this infrastructure and monitors the services provided by the components of this infrastructure are operational and working as expected. This is a local monitoring system functional. However, the project also proposes a scalable system that is ready for growth of infrastructure and efficient. This is the reason of divide the system in two components:  Slave Component: monitors locally the infrastructure assets to be monitored, this is the scenario described above.  Master Component: get the results from the monitoring, provided by the Slave Component. This system can be deployed in a different network than the slave component. This approach is not only scalable but also a real scenario, as may be the case that the Components belongs to different infrastructures and even, different organizations, also this components can communicate over the Internet, through a reliable mechanism if possible. The project proposes that both Components are deployed in high availability (HA onwards concerning high availability), each Component is composed of two servers (nodes, hereafter). As will be discussed in later chapters, there are several settings available to deploy a system in HA, the configuration chosen for the project is Active - Passive (details of this configuration are also explained in later chapters). Finally the possibility of offering active responses in certain situations and additional settings on the monitoring system will be discussed. On the other hand, for the implementation of the project, open source software has been used, for virtualization infrastructure (Virtual Box and GNS3), code-based operating systems (Linux), the monitoring system (Nagios core), as well as the software that implements the HA (corosync and pacemaker).

Proprioceptive force estimation and control for teleoperation in radioactive environments

A medida que se incrementa la energía de los aceleradores de partículas o iones pesados como el CERN o GSI, de los reactores de fusión como JET o ITER, u otros experimentos científicos, se va haciendo cada vez más imprescindible el uso de técnicas de manipulación remota para la interacción con el entorno sujeto a la radiación. Hasta ahora la tasa de dosis radioactiva en el CERN podía tomar valores cercanos a algunos mSv para tiempos de enfriamiento de horas, que permitían la intervención humana para tareas de mantenimiento. Durante los primeros ensayos con plasma en JET, se alcanzaban valores cercanos a los 200 μSv después de un tiempo de enfriamiento de 4 meses y ya se hacía extensivo el uso de técnicas de manipulación remota. Hay una clara tendencia al incremento de los niveles de radioactividad en el futuro en este tipo de instalaciones. Un claro ejemplo es ITER, donde se esperan valores de 450 Sv/h en el centro del toroide a los 11 días de enfriamiento o los nuevos niveles energéticos del CERN que harán necesario una apuesta por niveles de mantenimiento remotos. En estas circunstancias se enmarca esta tesis, que estudia un sistema de control bilateral basado en fuerza-posición, tratando de evitar el uso de sensores de fuerza/par, cuyo contenido electrónico los hace especialmente sensitivos en estos ambientes. El contenido de este trabajo se centra en la teleoperación de robots industriales, que debido a su reconocida solvencia y facilidad para ser adaptados a estos entornos, unido al bajo coste y alta disponibilidad, les convierte en una alternativa interesante para tareas de manipulación remota frente a costosas soluciones a medida. En primer lugar se considera el problema cinemático de teleoperación maestro-esclavo de cinemática disimilar y se desarrolla un método general para la solución del problema en el que se incluye el uso de fuerzas asistivas para guiar al operador. A continuación se explican con detalle los experimentos realizados con un robot ABB y que muestran las dificultades encontradas y recomendaciones para solventarlas. Se concluye el estudio cinemático con un método para el encaje de espacios de trabajo entre maestro y esclavo disimilares. Posteriormente se mira hacia la dinámica, estudiándose el modelado de robots con vistas a obtener un método que permita estimar las fuerzas externas que actúan sobre los mismos. Durante la caracterización del modelo dinámico, se realizan varios ensayos para tratar de encontrar un compromiso entre complejidad de cálculo y error de estimación. También se dan las claves para modelar y caracterizar robots con estructura en forma de paralelogramo y se presenta la arquitectura de control deseada. Una vez obtenido el modelo completo del esclavo, se investigan diferentes alternativas que permitan una estimación de fuerzas externas en tiempo real, minimizando las derivadas de la posición para minimizar el ruido. Se comienza utilizando observadores clásicos del estado para ir evolucionando hasta llegar al desarrollo de un observador de tipo Luenberger-Sliding cuya implementación es relativamente sencilla y sus resultados contundentes. También se analiza el uso del observador propuesto durante un control bilateral simulado en el que se compara la realimentación de fuerzas obtenida con las técnicas clásicas basadas en error de posición frente a un control basado en fuerza-posición donde la fuerza es estimada y no medida. Se comprueba como la solución propuesta da resultados comparables con las arquitecturas clásicas y sin embargo introduce una alternativa para la teleoperación de robots industriales cuya teleoperación en entornos radioactivos sería imposible de otra manera. Finalmente se analizan los problemas derivados de la aplicación práctica de la teleoperación en los escenarios mencionados anteriormente. Debido a las condiciones prohibitivas para todo equipo electrónico, los sistemas de control se deben colocar a gran distancia de los manipuladores, dando lugar a longitudes de cable de centenares de metros. En estas condiciones se crean sobretensiones en controladores basados en PWM que pueden ser destructivas para el sistema formado por control, cableado y actuador, y por tanto, han de ser eliminadas. En este trabajo se propone una solución basada en un filtro LC comercial y se prueba de forma extensiva que su inclusión no produce efectos negativos sobre el control del actuador. ABSTRACT As the energy on the particle accelerators or heavy ion accelerators such as CERN or GSI, fusion reactors such as JET or ITER, or other scientific experiments is increased, it is becoming increasingly necessary to use remote handling techniques to interact with the remote and radioactive environment. So far, the dose rate at CERN could present values near several mSv for cooling times on the range of hours, which allowed human intervention for maintenance tasks. At JET, they measured values close to 200 μSv after a cooling time of 4 months and since then, the remote handling techniques became usual. There is a clear tendency to increase the radiation levels in the future. A clear example is ITER, where values of 450 Sv/h are expected in the centre of the torus after 11 days of cooling. Also, the new energetic levels of CERN are expected to lead to a more advanced remote handling means. In these circumstances this thesis is framed, studying a bilateral control system based on force-position, trying to avoid the use of force/torque sensors, whose electronic content makes them very sensitive in these environments. The contents of this work are focused on teleoperating industrial robots, which due its well-known reliability, easiness to be adapted to these environments, cost-effectiveness and high availability, are considered as an interesting alternative to expensive custom-made solutions for remote handling tasks. Firstly, the kinematic problem of teloperating master and slave with dissimilar kinematics is analysed and a new general approach for solving this issue is presented. The solution includes using assistive forces in order to guide the human operator. Coming up next, I explain with detail the experiments accomplished with an ABB robot that show the difficulties encountered and the proposed solutions. This section is concluded with a method to match the master’s and slave’s workspaces when they present dissimilar kinematics. Later on, the research studies the dynamics, with special focus on robot modelling with the purpose of obtaining a method that allows to estimate external forces acting on them. During the characterisation of the model’s parameters, a set of tests are performed in order to get to a compromise between computational complexity and estimation error. Key points for modelling and characterising robots with a parallelogram structure are also given, and the desired control architecture is presented. Once a complete model of the slave is obtained, different alternatives for external force estimation are review to be able to predict forces in real time, minimizing the position differentiation to minimize the estimation noise. The research starts by implementing classic state observers and then it evolves towards the use of Luenberger- Sliding observers whose implementation is relatively easy and the results are convincing. I also analyse the use of proposed observer during a simulated bilateral control on which the force feedback obtained with the classic techniques based on the position error is compared versus a control architecture based on force-position, where the force is estimated instead of measured. I t is checked how the proposed solution gives results comparable with the classical techniques and however introduces an alternative method for teleoperating industrial robots whose teleoperation in radioactive environments would have been impossible in a different way. Finally, the problems originated by the practical application of teleoperation in the before mentioned scenarios are analysed. Due the prohibitive conditions for every electronic equipment, the control systems should be placed far from the manipulators. This provokes that the power cables that fed the slaves devices can present lengths of hundreds of meters. In these circumstances, overvoltage waves are developed when implementing drives based on PWM technique. The occurrence of overvoltage is very dangerous for the system composed by drive, wiring and actuator, and has to be eliminated. During this work, a solution based on commercial LC filters is proposed and it is extensively proved that its inclusion does not introduce adverse effects into the actuator’s control.

Desarrollo de tecnologías de telemanipulación con alto grado de escalado orientadas a la interacción hombre-robot en entornos nucleares

Esta tesis se centra en desarrollo de tecnologías para la interacción hombre-robot en entornos nucleares de fusión. La problemática principal del sector de fusión nuclear radica en las condiciones ambientales tan extremas que hay en el interior del reactor, y la necesidad de que los equipos cumplan requisitos muy restrictivos para poder aguantar esos niveles de radiación, magnetismo, ultravacío, temperatura... Como no es viable la ejecución de tareas directamente por parte de humanos, habrá que utilizar dispositivos de manipulación remota para llevar a cabo los procesos de operación y mantenimiento. En las instalaciones de ITER es obligatorio tener un entorno controlado de extrema seguridad, que necesita de estándares validados. La definición y uso de protocolos es indispensable para regir su buen funcionamiento. Si nos centramos en la telemanipulación con algo grado de escalado, surge la necesidad de definir protocolos para sistemas abiertos que permitan la interacción entre equipos y dispositivos de diversa índole. En este contexto se plantea la definición del Protocolo de Teleoperación que permita la interconexión entre dispositivos maestros y esclavos de distinta tipología, pudiéndose comunicar bilateralmente entre sí y utilizar distintos algoritmos de control según la tarea a desempeñar. Este protocolo y su interconectividad se han puesto a prueba en la Plataforma Abierta de Teleoperación (P.A.T.) que se ha desarrollado e integrado en la ETSII UPM como una herramienta que permita probar, validar y realizar experimentos de telerrobótica. Actualmente, este Protocolo de Teleoperación se ha propuesto a través de AENOR al grupo ISO de Telerobotics como una solución válida al problema existente y se encuentra bajo revisión. Con el diseño de dicho protocolo se ha conseguido enlazar maestro y esclavo, sin embargo con los niveles de radiación tan altos que hay en ITER la electrónica del controlador no puede entrar dentro del tokamak. Por ello se propone que a través de una mínima electrónica convenientemente protegida se puedan multiplexar las señales de control que van a través del cableado umbilical desde el controlador hasta la base del robot. En este ejercicio teórico se demuestra la utilidad y viabilidad de utilizar este tipo de solución para reducir el volumen y peso del cableado umbilical en cifras aproximadas de un 90%, para ello hay que desarrollar una electrónica específica y con certificación RadHard para soportar los enormes niveles de radiación de ITER. Para este manipulador de tipo genérico y con ayuda de la Plataforma Abierta de Teleoperación, se ha desarrollado un algoritmo que mediante un sensor de fuerza/par y una IMU colocados en la muñeca del robot, y convenientemente protegidos ante la radiación, permiten calcular las fuerzas e inercias que produce la carga, esto es necesario para poder transmitirle al operador unas fuerzas escaladas, y que pueda sentir la carga que manipula, y no otras fuerzas que puedan influir en el esclavo remoto, como ocurre con otras técnicas de estimación de fuerzas. Como el blindaje de los sensores no debe ser grande ni pesado, habrá que destinar este tipo de tecnología a las tareas de mantenimiento de las paradas programadas de ITER, que es cuando los niveles de radiación están en sus valores mínimos. Por otro lado para que el operador sienta lo más fielmente posible la fuerza de carga se ha desarrollado una electrónica que mediante el control en corriente de los motores permita realizar un control en fuerza a partir de la caracterización de los motores del maestro. Además para aumentar la percepción del operador se han realizado unos experimentos que demuestran que al aplicar estímulos multimodales (visuales, auditivos y hápticos) aumenta su inmersión y el rendimiento en la consecución de la tarea puesto que influyen directamente en su capacidad de respuesta. Finalmente, y en referencia a la realimentación visual del operador, en ITER se trabaja con cámaras situadas en localizaciones estratégicas, si bien el humano cuando manipula objetos hace uso de su visión binocular cambiando constantemente el punto de vista adecuándose a las necesidades visuales de cada momento durante el desarrollo de la tarea. Por ello, se ha realizado una reconstrucción tridimensional del espacio de la tarea a partir de una cámara-sensor RGB-D, lo cual nos permite obtener un punto de vista binocular virtual móvil a partir de una cámara situada en un punto fijo que se puede proyectar en un dispositivo de visualización 3D para que el operador pueda variar el punto de vista estereoscópico según sus preferencias. La correcta integración de estas tecnologías para la interacción hombre-robot en la P.A.T. ha permitido validar mediante pruebas y experimentos para verificar su utilidad en la aplicación práctica de la telemanipulación con alto grado de escalado en entornos nucleares de fusión. Abstract This thesis focuses on developing technologies for human-robot interaction in nuclear fusion environments. The main problem of nuclear fusion sector resides in such extreme environmental conditions existing in the hot-cell, leading to very restrictive requirements for equipment in order to deal with these high levels of radiation, magnetism, ultravacuum, temperature... Since it is not feasible to carry out tasks directly by humans, we must use remote handling devices for accomplishing operation and maintenance processes. In ITER facilities it is mandatory to have a controlled environment of extreme safety and security with validated standards. The definition and use of protocols is essential to govern its operation. Focusing on Remote Handling with some degree of escalation, protocols must be defined for open systems to allow interaction among different kind of equipment and several multifunctional devices. In this context, a Teleoperation Protocol definition enables interconnection between master and slave devices from different typologies, being able to communicate bilaterally one each other and using different control algorithms depending on the task to perform. This protocol and its interconnectivity have been tested in the Teleoperation Open Platform (T.O.P.) that has been developed and integrated in the ETSII UPM as a tool to test, validate and conduct experiments in Telerobotics. Currently, this protocol has been proposed for Teleoperation through AENOR to the ISO Telerobotics group as a valid solution to the existing problem, and it is under review. Master and slave connection has been achieved with this protocol design, however with such high radiation levels in ITER, the controller electronics cannot enter inside the tokamak. Therefore it is proposed a multiplexed electronic board, that through suitable and RadHard protection processes, to transmit control signals through an umbilical cable from the controller to the robot base. In this theoretical exercise the utility and feasibility of using this type of solution reduce the volume and weight of the umbilical wiring approximate 90% less, although it is necessary to develop specific electronic hardware and validate in RadHard qualifications in order to handle huge levels of ITER radiation. Using generic manipulators does not allow to implement regular sensors for force feedback in ITER conditions. In this line of research, an algorithm to calculate the forces and inertia produced by the load has been developed using a force/torque sensor and IMU, both conveniently protected against radiation and placed on the robot wrist. Scaled forces should be transmitted to the operator, feeling load forces but not other undesirable forces in slave system as those resulting from other force estimation techniques. Since shielding of the sensors should not be large and heavy, it will be necessary to allocate this type of technology for programmed maintenance periods of ITER, when radiation levels are at their lowest levels. Moreover, the operator perception needs to feel load forces as accurate as possible, so some current control electronics were developed to perform a force control of master joint motors going through a correct motor characterization. In addition to increase the perception of the operator, some experiments were conducted to demonstrate applying multimodal stimuli (visual, auditory and haptic) increases immersion and performance in achieving the task since it is directly correlated with response time. Finally, referring to the visual feedback to the operator in ITER, it is usual to work with 2D cameras in strategic locations, while humans use binocular vision in direct object manipulation, constantly changing the point of view adapting it to the visual needs for performing manipulation during task procedures. In this line a three-dimensional reconstruction of non-structured scenarios has been developed using RGB-D sensor instead of cameras in the remote environment. Thus a mobile virtual binocular point of view could be generated from a camera at a fixed point, projecting stereoscopic images in 3D display device according to operator preferences. The successful integration of these technologies for human-robot interaction in the T.O.P., and validating them through tests and experiments, verify its usefulness in practical application of high scaling remote handling at nuclear fusion environments.

1880-1898, 1922-1923: Inman E. Page

1st & 6th President In Office: 1880-1898, 1922-1923 Inman E. Page was the first individual named "president" at Lincoln University of Missouri. He was born a slave, bought his and his family's freedom, graduated from Brown University in Washington and was nominated there as Class Orator. During his tenure he brought in many new instructors, built several campus buildings, was president of the Negro Teacher's Association, worked with the state government for meaningful funding of the institute and was popular with the press because he was well spoken. In 1889, the Board tried to oust him, to put in a new person, but the move was so highly controversial that the candidate withdrew from the process. While Inman was president, in 1891, Lincoln University became a Land-Grant Institution under the Morrill Land-Grant Fund and the first Memorial Hall was built. He also began instituting college-level courses, which faced some serious opposition, but inevitably led to Lincoln Institute becoming Lincoln University. Reference Marshall, A. P. (1966). Soldiers' Dream: A Centennial History of Lincoln University of Missouri. Lincoln University: Jefferson City, MO.

O PODER DE ZEFERINA NO QUILOMBO DO URUBU UMA RECONSTRUÇÃO HISTÓRICA POLÍTICO-SOCIAL

Os ideais de liberdade exigiram do povo negro diferenciadas práticas para romper com o sistema escravista. Eram as rebeliões em navios, os atos de infanticídio, os justiçamentos dos feitores, as revoltas, além de participações em movimentos libertários e formações de quilombos. Dentre estas formas de organização, o quilombo foi fenômeno essencial nos mais de 300 anos de escravismo no Brasil. Em cada região existiam quilombos, pois para a população negra, cativa ou não, esse era o melhor meio de alcançar a liberdade, um meio coletivo para enfrentar o sistema. O Quilombo do Urubu representou a insistência em garantir a condição humana que o regime escravista negava, sobretudo às mulheres, aos homens e às crianças negras. Essa era uma força que saía de suas entranhas como grito de liberdade, configurada nas fugas em busca de um lugar que lhes assegurasse aproximação de uma vida digna e que pudessem orgulhar-sedo seu porte físico e da sua cultura. Todo esse desprendimento, além de uma força física, exigia um completo conhecimento histórico e espiritual, resguardado pela religiosidade que fortalecia seus espíritos para lutar contra toda negação de humanidade do século XIX no subúrbio da capital baiana. A líder Zeferina, inconformada com a exclusão social de seu povo negro, e entusiasmada pelo poder de herança de ancestralidade, pelo conhecimento de raiz da cultura matrilinear angolana, pelo profundo conhecimento histórico de resistência da rainha Nzinga Mbandi e pela tradição de quilombolas e guerreiras, viveu e lutou pelo sonho de liberdade. Hoje, a chama desse poder é mantida acesa na caminhada de celebração do 20 de novembro pela comunidade de Pirajá e arredores, enquanto referencial de resistência negra na luta contra as exclusões sociais vigentes.(AU)

AtGRP7, a nuclear RNA-binding protein as a component of a circadian-regulated negative feedback loop in Arabidopsis thaliana

The endogenous clock that drives circadian rhythms is thought to communicate temporal information within the cell via cycling downstream transcripts. A transcript encoding a glycine-rich RNA-binding protein, Atgrp7, in Arabidopsis thaliana undergoes circadian oscillations with peak levels in the evening. The AtGRP7 protein also cycles with a time delay so that Atgrp7 transcript levels decline when the AtGRP7 protein accumulates to high levels. After AtGRP7 protein concentration has fallen to trough levels, Atgrp7 transcript starts to reaccumulate. Overexpression of AtGRP7 in transgenic Arabidopsis plants severely depresses cycling of the endogenous Atgrp7 transcript. These data establish both transcript and protein as components of a negative feedback circuit capable of generating a stable oscillation. AtGRP7 overexpression also depresses the oscillation of the circadian-regulated transcript encoding the related RNA-binding protein AtGRP8 but does not affect the oscillation of transcripts such as cab or catalase mRNAs. We propose that the AtGRP7 autoregulatory loop represents a “slave” oscillator in Arabidopsis that receives temporal information from a central “master” oscillator, conserves the rhythmicity by negative feedback, and transduces it to the output pathway by regulating a subset of clock-controlled transcripts.

Racismo e decadência: sociedade, cultura e intelectuais em São Luís do Maranhão

O argumento desta tese é que a lenta configuração social do racismo na província do Maranhão pode ser observada como uma consequência inesperada da combinação de três processos distintos entre si, dotados de causalidades e efeitos próprios, mas cujo amálgama histórico impulsou a valorização simbólica e política das classificações de cor como critério de distinção e controle social. Em primeiro lugar, o processo econômico de derrocada do setor de exportação, diretamente vinculado à plantation escravista em relação à produção voltada para o mercado interno. Em segundo lugar, o crescimento demográfico da população livre de cor no conjunto dos trabalhadores, grupo que se tornou majoritário ainda na primeira metade do século dezenove. Por fim, o lugar periférico do Estado do Maranhão na política brasileira desde o processo de independência. Para demonstrar esta tese analiso a combinação desses processos na cidade de São Luís do Maranhão e os impasses da integração da população negra nessa sociedade que se imaginou como uma Atenas brasileira.

Os muitos nomes de Silvana: contribuições clínico-políticas da psicanálise sobre mulheres negras

Esta pesquisa aponta alguns dos efeitos subjetivos e estratégias singulares de resistência frente à desigualdade racial no nosso país, abordando as vicissitudes de inscrição no laço social de mulheres negras e pobres. É fruto de uma intervenção clínico-política com um grupo de adolescentes em uma Escola Municipal de Ensino Fundamental de São Paulo na qual foi se evidenciando, para nós, a necessidade de cada um desses adolescentes de defender intransigentemente a honra e o valor de suas mães frente aos outros membros do grupo. Tanto pelo seu excesso como pela sua repetição, essa situação nos sugeria um mal-estar e um não dito referido às configurações familiares e à posição destas mulheres nesta comunidade escolar, que nos levou a escutá-las. Tomando a indicação freudiana de que a psicologia individual seria também psicologia social e a formulação lacaniana de que podemos considerar o Inconsciente como sendo a Política, acreditamos ser indispensável escutar o sujeito levando em consideração o Outro, entendido tanto do ponto de vista sócio-histórico, como libidinal. Isso significa que não poderíamos escutar estas mulheres sem considerar o campo de desigualdades sociais e raciais no qual estavam inscritas discursivamente, o que nos exigiu uma interlocução fundamental tanto com pesquisas da antropologia social e da sociologia, como da história. A fala destas mulheres foi nos revelando que, além de outras identificações contingentes, o fato de serem reconhecidas e se reconhecerem como mulheres negras era um elemento fundamental nas suas vivências cotidianas. Uma vez que nosso passado escravista não teria sido suficientemente lembrado e admitido, alguns traços se fariam presentes através de uma transmissão simbólica, pelos subterrâneos da cultura, de uma posição de servidão a elas atribuída. Permaneceria de uma forma atualizada e insidiosa uma divisão racializada da nossa sociedade, ancorada na herança de uma cisão entre a mulher mundana cujo corpo seria visto como um corpo de gozo, mas sem valor social, a mucama, e a que seria valorizada socialmente à custa de um corpo assexuado, casta e educada, esposa do senhor de escravos. Apesar de tantos avanços, as conquistas femininas das últimas décadas não seriam totalmente estendidas a essas mulheres, negras e pobres, que seguiriam, frequentemente, apresentando no imaginário social um corpo ao qual se atribuiria a capacidade de satisfazer os desejos mais inconfessáveis de um homem à custa de ser visto como propriedade e domínio deste. A atitude racista se faria presente em relação a elas, entendida como o ato de segregação do gozo inadmitido de um sujeito no corpo de um outro, ou ainda, como Lacan apontou, impondo a um outro, seu modo de gozo. Mais do que uma identidade das mulheres negras, consideramos fundamental conceber a particularidade de um laço que se estabeleceria na relação com elas, na medida em que seu corpo seria capaz de despertar e revelar a relação do sujeito com o mais íntimo e insuportável de si mesmo: ela seria a estrangeira frente a um homem, por ser mulher; e seria estrangeira frente a uma mulher ou homem branco, por ser negra. A sua condição de estrangeira a deixaria assim como figura paradigmática de um Outro sexo, um sexo Outro, um gozo Outro, recaindo sobre ela as reações mais violentas de extirpação desse gozo. As estratégias de como manter o que seria próprio do gozo feminino não balizado pelo gozo fálico, posto que seria suplementar a ele frente a essa injunção de segregação e depreciação, seriam sempre singulares. Apresentamos um caso clínico, Silvana, apontando suas estratégias de resistência frente a um discurso social que a desqualificaria tentando lhe impor um estreitamento de sua vida erótica e sua redução a um modo único de gozo

Transport across two interacting quantum dots: Bulk Kondo, Kondo box, and molecular regimes

We analyze the transport properties of a double quantum dot device with both dots coupled to perfect conducting leads and to a finite chain of N noninteracting sites connecting both of them. The interdot chain strongly influences the transport across the system and the local density of states of the dots. We study the case of a small number of sites, so that Kondo box effects are present, varying the coupling between the dots and the chain. For odd N and small coupling between the interdot chain and the dots, a state with two coexisting Kondo regimes develops: the bulk Kondo due to the quantum dots connected to leads and the one produced by the screening of the quantum dot spins by the spin in the finite chain at the Fermi level. As the coupling to the interdot chain increases, there is a crossover to a molecular Kondo effect, due to the screening of the molecule (formed by the finite chain and the quantum dots) spin by the leads. For even N the two Kondo temperatures regime does not develop and the physics is dominated by the usual competition between Kondo and antiferromagnetism between the quantum dots. We finally study how the transport properties are affected as N is increased. For the study we used exact multiconfigurational Lanczos calculations and finite-U slave-boson mean-field theory at T=0. The results obtained with both methods describe qualitatively and also quantitatively the same physics.

[Excerpt from the poem "An Elegy"], undated

Folio-sized leaf containing a handwritten copy of stanzas 13-24 of "An elegy on the late Rt. Hon. W------ P---, Esq," a satirical poem about William Pitt first published in London in 1766. The excerpt begins "Where the dull slave, or Scycophant confess'd," and ends, "And swells quite crimson'd with Britania's Blood." The copy is marked with scribbles.

Diaries of Benjamin Guild, 1776, 1778

These diaries of Benjamin Guild document his travels as a Presbyterian pastor in Massachusetts and Rhode Island. The daily entries describe people Guild met and dined with, the food he ate (including strawberries, currants, watermelon, English cherries, and lobster), the funerals he attended, and the sermons he gave. Many entries relate to his health concerns (the ague and eye trouble), sleeping habits, and widespread public health concerns (including smallpox, dysentery, "nervous fevers," consumption, and "putrid fever"). The diaries also contain passing references to the activities of American, British, French, and German soldiers during the American Revolution; the invasion of Canada and battles occurring in New York are noted. In August 1778, after visiting Providence, Rhode Island, Guild comments on the disordered state of the city after American soldiers passed through it. He also recounts a visit by officers of the French fleet to the Harvard College library in September 1778 and describes his dinner on board the French man-of-war, Sagitaire. One entry describes an elaborate ball sponsored by John Hancock, held for French soldiers and "Boston ladies," and another refers to the "incursion" of Indians. Many of Guild's diary entries pertain to his work as a Harvard College Tutor; these entries describe his lectures at the College, meetings with colleagues, personnel decisions, and the examination of students. He also describes books he is reading and his opinions of them, the purchase and sale of books, and his desire to learn Hebrew and French. In addition, multiple entries refer to a man named Prince, who was perhaps Guild's slave. Prince sometimes accompanied Guild on his travels.

Letters from Jonathan Mason to William Tudor,

Two letters on topics such as Mason’s search for original documents relating to the Constitution and the admission of Missouri to the union as a slave state.

Manuscript on United States relations with England and France,

Untitled and undated manuscript written by Tudor offering his opinions on political and commercial relations between the United States, England, and France, and the causes of American animosity toward those countries. Topics and events referenced include the slave trade, Napoleon, and the Little Belt Affair. Introduction and parts one through three.