A survey on coverage path planning for robotics

Coverage Path Planning (CPP) is the task of determining a path that passes over all points of an area or volume of interest while avoiding obstacles. This task is integral to many robotic applications, such as vacuum cleaning robots, painter robots, autonomous underwater vehicles creating image mosaics, demining robots, lawn mowers, automated harvesters, window cleaners and inspection of complex structures, just to name a few. A considerable body of research has addressed the CPP problem. However, no updated surveys on CPP reflecting recent advances in the field have been presented in the past ten years. In this paper, we present a review of the most successful CPP methods, focusing on the achievements made in the past decade. Furthermore, we discuss reported field applications of the described CPP methods. This work aims to become a starting point for researchers who are initiating their endeavors in CPP. Likewise, this work aims to present a comprehensive review of the recent breakthroughs in the field, providing links to the most interesting and successful works

Cristais líquidos colestéricos: a quiralidade revela as suas cores

Chirality deeply impacts the macroscopic properties on all scales of the universe from elemental particles through biological structures up to astronomic systems. Specifically, chiral liquid crystals give rise to self-organized macrostructures with unparalleled properties. Here we present easy experiments with a special class of chiral liquid crystals that show temperature-induced selective reflection of light (thermochromic effect). Understanding this thermochromic effect allows undergraduate students better realize important properties of super and supramolecular systems.

Coassembly in binary mixtures of peptide amphiphiles containing oppositely charged residues

The self-assembly in water of designed peptide amphiphile (PA) C16-ETTES containing two anionic residues and its mixtures with C16-KTTKS containing two cationic residues has been investigated. Multiple spectroscopy, microscopy, and scattering techniques are used to examine ordering extending from the β-sheet structures up to the fibrillar aggregate structure. The peptide amphiphiles both comprise a hexadecyl alkyl chain and a charged pentapeptide headgroup containing two charged residues. For C16-ETTES, the critical aggregation concentration was determined by fluorescence experiments. FTIR and CD spectroscopy were used to examine β-sheet formation. TEM revealed highly extended tape nanostructures with some striped regions corresponding to bilayer structures viewed edge-on. Small-angle X-ray scattering showed a main 5.3 nm bilayer spacing along with a 3 nm spacing. These spacings are assigned respectively to predominant hydrated bilayers and a fraction of dehydrated bilayers. Signs of cooperative self-assembly are observed in the mixtures, including reduced bundling of peptide amphiphile aggregates (extended tape structures) and enhanced β-sheet formation.

Crystal engineering using functionalized adamantane

We performed a first-principles investigation on the structural, electronic and optical properties of crystals made of chemically functionalized adamantane molecules. Several molecular building blocks, formed by boron and nitrogen substitutional functionalizations, were considered to build zinc blende and wurtzite crystals, and the resulting structures presented large bulk moduli and cohesive energies, wide and direct bandgaps, and low dielectric constants (low-kappa materials). Those properties provide stability for such structures up to room temperature, superior to those of typical molecular crystals. This indicates a possible road map for crystal engineering using functionalized diamondoids, with potential applications ranging from space filling between conducting wires in nanodevices to nano-electromechanical systems.

A canonical form for nonderogatory matrices under unitary similarity

A square matrix is nonderogatory if its Jordan blocks have distinct eigenvalues. We give canonical forms for (1) nonderogatory complex matrices up to unitary similarity, and (2) pairs of complex matrices up to similarity, in which one matrix has distinct eigenvalues. The types of these canonical forms are given by undirected and, respectively, directed graphs with no undirected cycles. (C) 2011 Elsevier Inc. All rights reserved.

A method for calculating the compliance of bonded-interfaces under shrinkage: Validation for Class I cavities

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

Naturaleza jurídica del contrato de mediación

Desde los plantemientos que entienden la mediación como una mera relación de hecho, se avanzará hasta la consideración de la misma como contrato. Para ello, se separarán las categorías o institutos que no se consideren adecuados a la naturaleza de la mediación, profundizando en sus estructuras más básicas, hasta llegar a la consideración contractual de la misma. Desde el contrato, se tratarán los elementos de sinalagmaticidad, principalidad, onerosidad o consensualidad, entre otras circunstancias, esenciales o naturales, antes de abordar la que quizá sea la circunstancia que merezca un tratamiento más especial: el riesgo aleatorio de la mediación. Además, al tratarse de contratos infrarregulados, la dimensión económica y efectiva de los mismos no sólo permite la reflexión, sino que impulsa la crítica y, si bien no puede ofrecer por sí misma respuestas, sí puede ayudar a descartar opciones menos adecuadas en cada caso. De todo lo anterior se concluirá una única categoría contractual, clara y precisa, enfrentada también a un análisis económico de cada uno de sus elementos, así como una confrontación con las propuestas, sobre los mismos supuestos, del Derecho contractual europeo. Así, se tratará de evaluar, en cada paso, que las conclusiones parciales sobre las que se asienten ulteriores estadios de la investigación no sólo resulten sistemáticas, sino también idóneas para alcanzar la finalidad de contrato y, a su través, la de las partes. El contrato resultante se encontrará categorizado, pero no por ello regulado. De ahí la necesidad, última, de ubicarlo en una categoría contractual más amplia que pueda informar dichos caracteres con una regulación suficiente, desde la que establecer una normatividad real.

An Autonomous Engine for Services Configuration and Deployment.

The runtime management of the infrastructure providing service-based systems is a complex task, up to the point where manual operation struggles to be cost effective. As the functionality is provided by a set of dynamically composed distributed services, in order to achieve a management objective multiple operations have to be applied over the distributed elements of the managed infrastructure. Moreover, the manager must cope with the highly heterogeneous characteristics and management interfaces of the runtime resources. With this in mind, this paper proposes to support the configuration and deployment of services with an automated closed control loop. The automation is enabled by the definition of a generic information model, which captures all the information relevant to the management of the services with the same abstractions, describing the runtime elements, service dependencies, and business objectives. On top of that, a technique based on satisfiability is described which automatically diagnoses the state of the managed environment and obtains the required changes for correcting it (e.g., installation, service binding, update, or configuration). The results from a set of case studies extracted from the banking domain are provided to validate the feasibility of this proposa

The effect of scour protections in offshore wind farms

The installation of offshore scour protection systems in offshore wind farms allows avoid the effect of scour phenomenon around these structures. Up to date, numerous research projects have been carried out to justify the necessity of the scour protection systems and also to optimize their design. Protection systems based on riprap is frequently used due to its low cost and easy availability compared to other solutions such as geotextile bags or prefabricated concrete blocks. The sizing of these structures can be performed according to a series of recommendations that can optimize the costs associated with them, but there have been only few studies with real data up to now which have allowed identify the need for such protections. This investigation aims to assess the functionality of the scour protections adopted through the available data about their characteristics and the scour depth developed around the foundations. In this sense, this paper presents the results of a study that analyzes the functionality of scour protections in different European offshore wind farms.

Z-membranes: artificial organelles for overexpressing recombinant integral membrane proteins.

We have expressed a fusion protein formed between the avian infectious bronchitis virus M protein and the bacterial enzyme beta-glucuronidase in transgenic tobacco cells. Electron microscope images of such cells demonstrate that overexpression of this fusion protein gives rise to a type of endoplasmic reticulum membrane domain in which adjacent membranes become zippered together apparently as a consequence of the oligomerizing action of beta-glucuronidase. These zippered (Z-) membranes lack markers of the endoplasmic reticulum (NADH cytochrome c reductase and ribosomes) and accumulate in the cells in the form of multilayered scroll-like structures (up to 2 micrometers in diameter; 20-50 per cell) without affecting plant growth. The discovery of Z-membranes has broad implications for biology and biotechnology in that they provide a means for accumulating large quantities of recombinant membrane proteins within discrete domains of native membranes.

The influence of magnetic field geometry on magnetars X-ray spectra

Nowadays, the analysis of the X-ray spectra of magnetically powered neutron stars or magnetars is one of the most valuable tools to gain insight into the physical processes occurring in their interiors and magnetospheres. In particular, the magnetospheric plasma leaves a strong imprint on the observed X-ray spectrum by means of Compton up-scattering of the thermal radiation coming from the star surface. Motivated by the increased quality of the observational data, much theoretical work has been devoted to develop Monte Carlo (MC) codes that incorporate the effects of resonant Compton scattering (RCS) in the modeling of radiative transfer of photons through the magnetosphere. The two key ingredients in this simulations are the kinetic plasma properties and the magnetic field (MF) configuration. The MF geometry is expected to be complex, but up to now only mathematically simple solutions (self-similar solutions) have been employed. In this work, we discuss the effects of new, more realistic, MF geometries on synthetic spectra. We use new force-free solutions [14] in a previously developed MC code [9] to assess the influence of MF geometry on the emerging spectra. Our main result is that the shape of the final spectrum is mostly sensitive to uncertain parameters of the magnetospheric plasma, but the MF geometry plays an important role on the angle-dependence of the spectra.

Cyclobutadiene automerization and rotation of ethylene: Energetics of the barriers by using Spin-polarized wave functions

Spin-projected spin polarized Møller–Plesset and spin polarized coupled clusters calculations have been made to estimate the cyclobutadiene automerization, the ethylene torsion barriers in their ground state, and the gap between the singlet and triplet states of ethylene. The results have been obtained optimizing the geometries at MP4 and/or CCSD levels, by an extensive Gaussian basis set. A comparative analysis with more complex calculations, up to MP5 and CCSDTQP, together with others from the literature, have also been made, showing the efficacy of using spin-polarized wave functions as a reference wave function for Møller–Plesset and coupled clusters calculations, in such problems.

Method for targetless tracking subpixel in-plane movements

We present a targetless motion tracking method for detecting planar movements with subpixel accuracy. This method is based on the computation and tracking of the intersection of two nonparallel straight-line segments in the image of a moving object in a scene. The method is simple and easy to implement because no complex structures have to be detected. It has been tested and validated using a lab experiment consisting of a vibrating object that was recorded with a high-speed camera working at 1000 fps. We managed to track displacements with an accuracy of hundredths of pixel or even of thousandths of pixel in the case of tracking harmonic vibrations. The method is widely applicable because it can be used for distance measuring amplitude and frequency of vibrations with a vision system.

In-fibre twist sensor based on a fibre Bragg grating with 81º tilted structure

We report a strong polarization dependent coupling behavior of fiber Bragg gratings with excessively tilted structures up to 81 . This unique property has been utilized to implement a novel twist sensor, showing high torsion sensitivity. The twist induced light coupling interchange between the two birefringence modes makes it possible to interrogate such a sensor using low-cost intensity demodulation technique.

In-fiber twist sensor based on a fiber Bragg grating with 81° tilted structure

We report a strong polarization dependent coupling behavior of fiber Bragg gratings with excessively tilted structures up to 81°. This unique property has been utilized to implement a novel twist sensor, showing high torsion sensitivity. The twist induced light coupling interchange between the two birefringence modes makes it possible to interrogate such a sensor using low-cost intensity demodulation technique. © 2006 IEEE.