A multi-objective approach for the motion planning of redundant manipulators

Kinematic redundancy occurs when a manipulator possesses more degrees of freedom than those required to execute a given task. Several kinematic techniques for redundant manipulators control the gripper through the pseudo-inverse of the Jacobian, but lead to a kind of chaotic inner motion with unpredictable arm configurations. Such algorithms are not easy to adapt to optimization schemes and, moreover, often there are multiple optimization objectives that can conflict between them. Unlike single optimization, where one attempts to find the best solution, in multi-objective optimization there is no single solution that is optimum with respect to all indices. Therefore, trajectory planning of redundant robots remains an important area of research and more efficient optimization algorithms are needed. This paper presents a new technique to solve the inverse kinematics of redundant manipulators, using a multi-objective genetic algorithm. This scheme combines the closed-loop pseudo-inverse method with a multi-objective genetic algorithm to control the joint positions. Simulations for manipulators with three or four rotational joints, considering the optimization of two objectives in a workspace without and with obstacles are developed. The results reveal that it is possible to choose several solutions from the Pareto optimal front according to the importance of each individual objective.

Experimental backlash study in mechanical manipulators

The behavior of mechanical manipulators with backlash is analyzed. In order to acquire and study the signals an experimental setup is implemented. The signal processing capabilities of the wavelets are used for de-noising the experimental signals and the energy of the obtained components is analyzed. To evaluate the backlash effect upon the robotic system, it is proposed an index based on the pseudo phase plane representation. Several tests are developed that demonstrate the coherence of the results.

Constraining multi-Higgs flavour models

To study a flavour model with a non-minimal Higgs sector one must first define the symmetries of the fields; then identify what types of vacua exist and how they may break the symmetries; and finally determine whether the remnant symmetries are compatible with the experimental data. Here we address all these issues in the context of flavour models with any number of Higgs doublets. We stress the importance of analysing the Higgs vacuum expectation values that are pseudo-invariant under the generators of all subgroups. It is shown that the only way of obtaining a physical CKM mixing matrix and, simultaneously, non-degenerate and non-zero quark masses is requiring the vacuum expectation values of the Higgs fields to break completely the full flavour group, except possibly for some symmetry belonging to baryon number. The application of this technique to some illustrative examples, such as the flavour groups Delta (27), A(4) and S-3, is also presented.

Dynamics of the Dow Jones and the NASDAQ stock indexes

The goal of this study is the analysis of the dynamical properties of financial data series from worldwide stock market indices. We analyze the Dow Jones Industrial Average ( ∧ DJI) and the NASDAQ Composite ( ∧ IXIC) indexes at a daily time horizon. The methods and algorithms that have been explored for description of physical phenomena become an effective background, and even inspiration, for very productive methods used in the analysis of economical data. We start by applying the classical concepts of signal analysis, Fourier transform, and methods of fractional calculus. In a second phase we adopt a pseudo phase plane approach.

A coherent approach to non-integer order derivatives

Signal Processing, vol. 86, nº 10

A new least-squares approach to differintegration modeling

Signal Processing, Vol. 86, nº 10

Filtering method in backlash phenomena analysis

The behavior of robotic manipulators with backlash is analyzed. Based on the pseudo-phase plane two indices are proposed to evaluate the backlash effect upon the robotic system: the root mean square error and the fractal dimension. For the dynamical analysis the noisy signals captured from the system are filtered through wavelets. Several tests are developed that demonstrate the coherence of the results.

Basidiobolomicose: Registro de um caso com aspectos incomuns

Registro de um caso de basidiobolomicose com lesões múltiplas, com aspecto pseudo-tumoral, em criança de 4 anos. Constitui o sexto caso descrito na América do Sul, com o isolamento do agente etiológico. O tratamento com iodeto de potássio foi coroado de sucesso.

Amygdala activation in response to 2D and 3D emotion-inducing stimuli

Studying changes in brain activation according to the valence of emotion-inducing stimuli is essential in the research on emotions. Due to the ecological potential of virtual reality, it is also important to examine whether brain activation in response to emotional stimuli can be modulated by the three-dimensional (3D) properties of the images. This study uses functional Magnetic Resonance Imaging to compare differences between 3D and standard (2D) visual stimuli in the activation of emotion-related brain areas. The stimuli were organized in three virtual-reality scenarios, each with a different emotional valence (pleasant, unpleasant and neutral). The scenarios were presented in a pseudo-randomized order in the two visualization modes to twelve healthy males. Data were analyzed through a GLM-based fixed effects procedure. Unpleasant and neutral stimuli activated the right amygdala more strongly when presented in 3D than in 2D. These results suggest that 3D stimuli, when used as “building blocks” for virtual environments, can induce increased emotional loading, as shown here through neuroimaging.

Modelação da vegetação potencial da Serra da Lousã e a sua aplicação no contexto da restauração de ecossistemas florestais

Dissertação apresentada na Faculdade de Ciências e Tecnologia da Universidade Nova de Lisboa para obtenção do grau de Mestre em Engenharia do Ambiente, perfil Engenharia Ecológica

A study on parallel versus sequential relational fuzzy clustering methods

Dissertação para obtenção do Grau de Mestre em Engenharia Informática

Infective Endocarditis Complicated by Large Aortic Pseudoaneurysm after Cardiac Surgery

A 66-year-old female with Streptococcus viridans aortic and tricuspid infective endocarditis develops, during the course of antibiotic therapy, rupture of a right coronary sinus of Valsalva aneurysm to the right ventricle. An urgent cardiac surgery is preformed with implantation of a mechanical aortic prosthesis and a right coronary sinus plasty. Six months later a huge aortic pseudoaneurysm is diagnosed and she is submitted to a second uneventful surgery. A review is done for the significant features with discussion of diagnosis and therapy.

Endocardite Plurivalvular com Fenómenos Embólicos Múltiplos Periféricos e Pulmonares a Propósito de um Caso Clínico

A síndrome febril indeterminada no idoso coloca sempre alguma dificuldade diagnóstica. A endocardite infecciosa, pela relativa raridade e pela atipia das suas manifestações é muitas vezes esquecida neste grupo etário, onde outras causas, nomeadamente neoplásicas, são primeiramente consideradas. Os autores apresentam um caso clínico de uma doente idosa com endocardite infecciosa subaguda mitral e tricuspide, cujo diagnóstico foi estabelecido apenas após embolização periférica. Para além de fenómenos embólicos múltiplos, esta doente teve ainda como complicação um aneurisma micótico da artéria femural esquerda a que foi operada.

Pseudoaneurisma do Ventrículo Esquerdo com Duplo Orifício de Entrada após Enfarte Agudo do Miocárdio

Doente do sexo feminino, 78 anos de idade, internada previamente por EAM combinado. A evolução clínica subsequente decorreu sem complicações, tendo alta ao 10.º dia. Cerca de 12 horas depois foi readmitida no Serviço de Urgência, por dor retrosternal prolongada, hipotensa e prostrada. O ECG (Fig. 1) mostrou re-elevação do segmento ST nas derivações anteriores e inferiores, sendo admitida na Unidade de Cuidados Intensivos com o diagnóstico de provável re-enfarte. O Ecocardiograma realizado na admissão revelou função sistólica global comprometida, sendo possível definir um volumoso espaço anecogénico no ápex do ventrículo esquerdo (VE), com solução de continuidade na transição do terço médio/apical da parede inferior (Fig. 2) e uma segunda solução de continuidade na transição do terço médio/apical da parede lateral do VE (Fig. 3). Em ambos os orifícios foi confirmada a presença de fluxo bidireccional por Doppler Pulsado e Cor (Fig. 2), sugerindo a presença de um pseudoaneurisma do VE com duplo orifício de entrada. A doente foi transferida para um centro cirúrgico, onde, após confirmação intra-operatória do pseudoaneurisma com duplo orifício, foi submetida a encerramento do colo com patch de teflon. Teve alta estável, sendo seguida em consulta de Cardiologia desde há cerca de 16 meses, sem eventos.

Aneurismas do Septo Interauricular

Os aneurismas do septo interauricular são uma entidade rara cuja prevalência foi subestimada antes do uso da ecocardiografia. A importância clínica tem vindo a aumentar devido à sua associação com fenómenos tromboembólicos. A propósito de seis casos clínicos, os autores fazem uma revisão dos aspectos clínicos, diagnósticos e terapêuticos em relação a este tema.