922 resultados para Forward and inverse kinematics


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Returnable transport equipment (RTE) such as pallets form an integral part of the supply chain and poor management leads to costly losses. Companies often address this matter by outsourcing the management of RTE to logistics service providers (LSPs). LSPs are faced with the task to provide logistical expertise to reduce RTE related waste, whilst differentiating their own services to remain competitive. In the current challenging economic climate, the role of the LSP to deliver innovative ways to achieve competitive advantage has never been so important. It is reported that radio frequency identification (RFID) application to RTE enables LSPs such as DHL to gain competitive advantage and offer clients improvements such as loss reduction, process efficiency improvement and effective security. However, the increased visibility and functionality of RFID enabled RTE requires further investigation in regards to decision‐making. The distributed nature of the RTE network favours a decentralised decision‐making format. Agents are an effective way to represent objects from the bottom‐up, capturing the behaviour and enabling localised decision‐making. Therefore, an agent based system is proposed to represent the RTE network and utilise the visibility and data gathered from RFID tags. Two types of agents are developed in order to represent the trucks and RTE, which have bespoke rules and algorithms in order to facilitate negotiations. The aim is to create schedules, which integrate RTE pick‐ups as the trucks go back to the depot. The findings assert that: - agent based modelling provides an autonomous tool, which is effective in modelling RFID enabled RTE in a decentralised utilising the real‐time data facility. ‐ the RFID enabled RTE model developed enables autonomous agent interaction, which leads to a feasible schedule integrating both forward and reverse flows for each RTE batch. ‐ the RTE agent scheduling algorithm developed promotes the utilisation of RTE by including an automatic return flow for each batch of RTE, whilst considering the fleet costs andutilisation rates. ‐ the research conducted contributes an agent based platform, which LSPs can use in order to assess the most appropriate strategies to implement for RTE network improvement for each of their clients.

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Triggered biodegradable composites made entirely from renewable resources are urgently sought after to improve material recyclability or be able to divert materials from waste streams. Many biobased polymers and natural fibers usually display poor interfacial adhesion when combined in a composite material. Here we propose a way to modify the surfaces of natural fibers by utilizing bacteria (Acetobacter xylinum) to deposit nanosized bacterial cellulose around natural fibers, which enhances their adhesion to renewable polymers. This paper describes the process of modifying large quantities of natural fibers with bacterial cellulose through their use as substrates for bacteria during fermentation. The modified fibers were characterized by scanning electron microscopy, single fiber tensile tests, X-ray photoelectron spectroscopy, and inverse gas chromatography to determine their surface and mechanical properties. The practical adhesion between the modified fibers and the renewable polymers cellulose acetate butyrate and poly(L-lactic acid) was quantified using the single fiber pullout test. © 2008 American Chemical Society.

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The literature acknowledges a distinction between immoral, amoral and moral management (Carroll, 1987; Crane 2000). This paper makes a case for the manager as a moral agent, even though the paper begins by highlighting a body of evidence which suggests that individual moral agency is sacrificed at work and is compromised in deference to other pressures. This leads to a discussion of the notion of managerial discretion and an examination of a separate, contrary body of literature which indicates that some managers in corporations may use their discretion to behave in a socially entrepreneurial manner. The underlying assumption of the study is that CSR isn’t solely driven by economics and that it may also be championed as a result of a personal morality, inspired by an individual’s own socially oriented personal values. A conceptual framework is put forward and it is suggested that individuals may be categorized as Active or Frustrated Corporate Social Entrepreneurs; Conformists or Apathetics: distinguished by individualistic or collectivist personal values. In a discussion of the nature of values, this paper highlights how values may act as drivers of our behavior and pays particular attention to the values of the entrepreneur, thereby linking the existing debate on moral agency with the field of corporate social responsibility.

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The literature acknowledges a distinction between immoral, amoral and moral management. This paper makes a case for the employee (at any level) as a moral agent, even though the paper begins by highlighting a body of evidence which suggests that individual moral agency is sacrificed at work and is compromised in deference to other pressures. This leads to a discussion about the notion of discretion and an examination of a separate, contrary body of literature which indicates that some individuals in corporations may use their discretion to behave in a socially entrepreneurial manner. My underlying assumption is that CSR isn’t solely driven by economics and that it may also be championed as a result of a personal morality, inspired by employees’ own socially oriented personal values. A conceptual framework is put forward and it is suggested that individuals may be categorized as Active or Frustrated Corporate Social Entrepreneurs; Conformists or Apathetics, distinguished by their individualistic or collectivist personal values. In a discussion of the nature of values, this paper highlights how values may act as drivers of our behavior and pays particular attention to the values of the entrepreneur, thereby linking the existing debate on moral agency with the field of corporate social responsibility.

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An approach to nonlinearity management in optical transmission lines with periodic dispersion compensation and distributed Raman amplification was presented. The optimization of a three-step dispersion map with forward and backward pumped distributed amplification was examined. The optimization was performed using the analytical solution obtained under the assumption of undepleted pumps and without inclusion of double Rayleigh Scattering (DRS), and by means of a full numerical approach accounting for all important effects. It was found that both procedures led to the same final solution.

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Telemedicine refers to the application of telecommunication and information technology (IT) in the delivery of health and clinical care at a distance or remotely and can be broadly considered in two modalities: store-and-forward and real-time interactive services. Preliminary studies have shown promising results in radiology, dermatology, intensive care, diabetes, rheumatology and primary care. However, the evidence is limited and hampered by small sample sizes, paucity of randomised controlled studies and lack of data relating to cost-effectiveness, health related quality of life and patient and clinician satisfaction. This review appraises the evidence from studies that have employed telemedicine tools in other disciplines and makes suggestions for its potential applications in specific clinical scenarios in adult allergy services. Possible examples include: triaging patients to determine the need for allergy tests; pre-assessment for specialised treatments such as allergen immunotherapy; follow up to assess treatment response and side effects; and education in self-management plan including training updates for self-injectable adrenaline and nasal spray use. This approach might improve access for those with limited mobility or living far away from regional centres, as well as bringing convenience and cost savings for the patient and service provider. These potential benefits need to be carefully weighed against evidence of service safety and quality. Keys to success include delineation of appropriate clinical scenarios, patient selection, training, IT support and robust information governance framework. Well-designed prospective studies are needed to evaluate its role. This article is protected by copyright. All rights reserved.

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We investigate the mobility of nonlinear localized modes in a generalized discrete Ginzburg-Landau-type model, describing a one-dimensional waveguide array in an active Kerr medium with intrinsic, saturable gain and damping. It is shown that exponentially localized, traveling discrete dissipative breather-solitons may exist as stable attractors supported only by intrinsic properties of the medium, i.e., in the absence of any external field or symmetry-breaking perturbations. Through an interplay by the gain and damping effects, the moving soliton may overcome the Peierls-Nabarro barrier, present in the corresponding conservative system, by self-induced time-periodic oscillations of its power (norm) and energy (Hamiltonian), yielding exponential decays to zero with different rates in the forward and backward directions. In certain parameter windows, bistability appears between fast modes with small oscillations and slower, large-oscillation modes. The velocities and the oscillation periods are typically related by lattice commensurability and exhibit period-doubling bifurcations to chaotically "walking" modes under parameter variations. If the model is augmented by intersite Kerr nonlinearity, thereby reducing the Peierls-Nabarro barrier of the conservative system, the existence regime for moving solitons increases considerably, and a richer scenario appears including Hopf bifurcations to incommensurately moving solutions and phase-locking intervals. Stable moving breathers also survive in the presence of weak disorder. © 2014 American Physical Society.

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Current methods of understanding microbiome composition and structure rely on accurately estimating the number of distinct species and their relative abundance. Most of these methods require an efficient PCR whose forward and reverse primers bind well to the same, large number of identifiable species, and produce amplicons that are unique. It is therefore not surprising that currently used universal primers designed many years ago are not as efficient and fail to bind to recently cataloged species. We propose an automated general method of designing PCR primer pairs that abide by primer design rules and uses current sequence database as input. Since the method is automated, primers can be designed for targeted microbial species or updated as species are added or deleted from the database. In silico experiments and laboratory experiments confirm the efficacy of the newly designed primers for metagenomics applications.

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Faced with an agribusiness expansion scenario and the increase in fertilizer consumption due to the exponential growth of the population, it is necessary to make better use of existing reserves, by obtaining products of better quality and in adequate quantities to meet demand national. In Tapira Mining Complex, Vale Fertilizantes, the phosphate concentrate is produced with content of 35.0% P2O5 from ore with content of about 8.0% P2O5, which are intended to supply Complex Industrial Uberaba and Araxá Minero Chemical Complex for the production of fertilizers. The industrial flotation step responsible for the recovery of P2O5 and hence the viability of the business is divided into the crumbly, grainy and ultrathin circuits, and, friable and granular concentrate comprise the conventional concentrated. Today only 14.7% of the mass which feeds the mill product becomes, the remainder being considered losses in the process, and the larger mass losses are located in the waste of flotation, representing 42.3%. From 2012 to 2014, the daily global mass recovery processing plants varied from 12.4 to 15.9% while the daily metallurgical recovery of P2O5 from 48.7 to 82.4%. By the degree of variability, it appears that the plant operated under different conditions. Seen this, this study aimed to analyze the influence of operational and process variables in P2O5 mass and metallurgical recoveries of industrial flotation circuits of grainy, crumbly and ultrathin. And besides was made an analysis of the effect of ore variables, as degrees, hardnesse and the ore front 02 percentage, in global recoveries of processing plant and the effect of dosages of reagents in the recoveries obtained from the bench flotation using the experimental design methodology. All work was performed using the historical database of Vale Fertilizantes of Tapira-MG, where all independent variables were dimensionless as the experimental range used. To make the statistical analysis it used the response surface technique and the values of the independent variables that maximize recoveries were found by canonical analysis. In the study of industrial flotation circuit crispy were obtained from 41.3% mass recovery and 91.3% metallurgical recovery P2O5, good values for the circuit, and the highest recoveries occur for solids concentration of the new flotation power between 45 and 50%, which values are assigned to the residence time of the pulp in cells and industrial flotation columns. The greater the number of ore heaps resumed on the higher the mass recovery, but in this scenario flotation becomes unstable because there is enormous weight variation in the feed. Higher recoveries are obtained for mass depressant dosage exceeding 120 g / t for synthetic collector dosage of 11.6%. In the study of industrial flotation circuit of the granulate were obtained 28.3% to 79.4% mass recovery and metallurgical recovery of P2O5 being considered good values for the circuit. Higher recoveries are obtained when the front ore 02 percentage is above 90%, because the ore of this front have more clear apatite. Likewise recoveries increase when the level of pulp rougher step is highest due to the high mass of circulating step receives loads. In the analysis of industrial flotation circuit of the ultrafine were obtained 23.95% of mass recovery, and the same is maximized to depressant dosage and the top collector 420 and 300 g / t, respectively. The analysis of the influence of variables ore, it was observed that higher recoveries are obtained for ores with P2O5 content above 8.0%, Fe2O3 content in the order of 28% forward and 02 of ore percentage of 83%. Hard ore percentage has strong influence on recoveries due to mass division in the circuit that is linked to this variable. However, the hard ore percentage that maximizes recoveries was very close to the design capacity of the processing plant, which is 20%. Finally, the study of the bench flotation, has noted that in friable and granular circuits the highest recoveries are achieved for a collector dosage exceeding 250 g / t and the simultaneous increase of collector dosage and synthetic collector percentage contributes to the increase recovery in the flotation, but this scenario is suitable to produce a concentrate poorer in terms of P2O5 content, showing that higher recovery is not always the ideal scenario. Thus, the results show the values of variables that provide higher recoveries in the flotation and hence lower losses in the waste.

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We study a small circuit of coupled nonlinear elements to investigate general features of signal transmission through networks. The small circuit itself is perceived as building block for larger networks. Individual dynamics and coupling are motivated by neuronal systems: We consider two types of dynamical modes for an individual element, regular spiking and chattering and each individual element can receive excitatory and/or inhibitory inputs and is subjected to different feedback types (excitatory and inhibitory; forward and recurrent). Both, deterministic and stochastic simulations are carried out to study the input-output relationships of these networks. Major results for regular spiking elements include frequency locking, spike rate amplification for strong synaptic coupling, and inhibition-induced spike rate control which can be interpreted as a output frequency rectification. For chattering elements, spike rate amplification for low frequencies and silencing for large frequencies is characteristic

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The basement membrane (BM) is a highly conserved form of extracellular matrix that underlies or surrounds and supports most animal tissues. BMs are crossed by cells during various remodeling events in development, immune surveillance, or during cancer metastasis. Because BMs are dense and not easily penetrable, most of these cells must open a gap in order to facilitate their migration. The mechanisms by which cells execute these changes are poorly understood. A developmental event that requires the opening of a BM gap is C. elegans uterine-vulval connection. The anchor cell (AC), a specialized uterine cell, creates a de novo BM gap. Subsequent widening of the BM gap involves the underlying vulval precursor cells (VPCs) and the π cells, uterine neighbors of the AC through non-proteolytic BM sliding. Using forward and reverse genetic screening, transcriptome profiling, and live-cell imaging, I investigated how the cells in these tissues accomplish BM gap formation. In Chapter 2, I identify two potentially novel regulators of BM breaching, isolated through a large-scale forward genetic screen and characterize the invasion defect in these mutants. In Chapter 3, I describe single-cell transcriptome sequencing of the invasive AC. In Chapter 4, I describe the role of the π cells in opening the nascent BM gap. A complete developmental pathway for this process has been elucidated: the AC induces the π fate through Notch signaling, after which the π cells upregulate the Sec14 family protein CTG-1, which in turn restricts the trafficking of DGN-1 (dystroglycan), a laminin receptor, allowing the BM to slide. Chapter 5 outlines the implications of these discoveries.

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Among the large variety of particulates in the atmosphere, calcic mineral dust particles have highly reactive surfaces that undergo heterogeneous reactions with nitrogen oxides contiguously. The association between Ca2+, an important proxy indicator of mineral dust and NO3-, a dominant anion in the Antarctic snow pack was analysed. A total of 41 snow cores (~ 1 m each) that represent snow deposited during 2008-2009 were studied along coastal-inland transects from two different regions - the Princess Elizabeth Land (PEL) and central Dronning Maud Land (cDML) in East Antarctica. Correlation statistics showed a strong association (at 99 % significance level) between NO3- and Ca2+ at the near-coastal sections of both PEL (r = 0.72) and cDML (r = 0.76) transects. Similarly, a strong association between these ions was also observed in snow deposits at the inland sections of PEL (r = 0.8) and cDML (r = 0.85). Such systematic associations between Ca2+ and NO3- is attributed to the interaction between calcic mineral dust and nitrogen oxides in the atmosphere, leading to the possible formation of calcium nitrate (Ca(NO3)2). Forward and back trajectory analyses using HYSPLIT model v. 4 revealed that Southern South America (SSA) was an important dust emitting source to the study region, aided by the westerlies. Particle size distribution showed that over 90 % of the dust was in the range < 4 µm, indicating that these dust particles reached the Antarctic region via long range transport from the SSA region. We propose that the association between Ca2+ and NO3- occurs during the long range transport due to the formation of Ca(NO3)2. The Ca(NO3)2 thus formed in the atmosphere undergo deposition over Antarctica under the influence of anticyclonic polar easterlies. However, influence of local dust sources from the nunataks in cDML evidently mask such association in the mountainous region. The study indicates that the input of dust-bound NO3- may contribute a significant fraction of the total NO3- deposited in Antarctic snow.

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O crescimento e o desenvolvimento crâniofaciais, apesar de estarem condicionados por fatores genéticos, são fortemente influenciados pelo padrão funcional da musculatura oro-facial. Cada indivíduo apresenta o seu próprio padrão de crescimento que sofre ação de fatores ambientais que em alguns casos podem alterá-lo. A maxila tem o seu crescimento para trás e para cima proporcionando um deslocamento desta para a frente e para baixo. Enquanto que, o crescimento do processo condilar contribui para o crescimento do ramo mandibular para trás e para cima, determinando o seu deslocamento para a frente e para baixo Os problemas de oclusão dentária consistem em anomalias do crescimento e desenvolvimento, afetando principalmente, os dentes, músculos e os ossos maxilares no período da infância e da adolescência, os quais podem produzir alterações tanto do ponto de vista estético como funcional. A amamentação é um fator que tem vindo cada vez mais a ser relacionado com o desenvolvimento crâniofacial, especialmente o crescimento mandibular, pois o mecanismo da amamentação tem sido considerado uma mais-valia na correção do retrognatismo mandibular presente no bebé. O tempo de amamentação é uma condicionante muito importante, visto que, o menor tempo de amamentação leva ao uso precoce do biberão. Este tipo de aleitamento pode não satisfazer o bebé por completo, pois o mecanismo de aleitamento é diferente do de amamentação, e pode potenciar o desenvolvimento de hábitos de sucção não nutritivos, como o uso da chupeta ou sucção digital, que vai prejudicar o desenvolvimento estomatognático, dando origem a más oclusões. Os hábitos de sucção não nutritiva quando instalados e com uma frequência, duração e intensidade elevada podem levar a problemas oclusais que só serão corrigidos ortodonticamente.

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BACKGROUND: Health-related quality of life (HRQL) assessment is an important measure of the impact of a wide range of disease process on an individual. To date, no HRQL tool has been evaluated in an Iranian population with cardiovascular disorders, specifically myocardial infarction, a major cause of mortality and morbidity. The MacNew Heart Disease Health-related Quality of Life instrument is a disease-specific HRQL questionnaire with satisfactory validity and reliability when applied cross-culturally. METHOD: A Persian version of MacNew was prepared by both forward and backward translation by bilinguals after which a feasibility test was performed. Consecutive patients (n = 51) admitted to a coronary care unit with acute myocardial infarction were recruited for measurement of their HRQL with retest one month after discharge in the follow-up clinic. Principal components analysis, intra-class correlation reliability, internal consistency, and test-retest reliability were assessed. RESULTS: Trivial rates of missing data confirmed the acceptability of the tool. Principal component analysis revealed that the three domains, emotional, social and physical, performed as well as in the original studies. Internal consistency was high and comparable to other studies, ranging from 0.92 for the emotional and physical domains, to 0.94 for the social domain, and to 0.95 for the Global score. Domain means of 5, 5.3 and 4.9 for emotional, physical and social respectively indicate that our Iranian population has similar emotional and physical but worse social HRQL scores. Test-retest analysis showed significant correlation in emotional and physical domains (P < 0.05). CONCLUSION: The Persian version of the MacNew questionnaire is comparable to the English version. It has high internal consistency and reasonable reproducibility, making it an appropriate specific quality of life tool for population-based studies and clinical practice in Iran in patients who have survived an acute myocardial infraction. Further studies are needed to confirm its validity in larger populations with cardiovascular disease

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O presente trabalho descreve um estudo sobre a metodologia matemática para a solução do problema direto e inverso na Tomografia por Impedância Elétrica. Este estudo foi motivado pela necessidade de compreender o problema inverso e sua utilidade na formação de imagens por Tomografia por Impedância Elétrica. O entendimento deste estudo possibilitou constatar, através de equações e programas, a identificação das estruturas internas que constituem um corpo. Para isto, primeiramente, é preciso conhecer os potencias elétricos adquiridos nas fronteiras do corpo. Estes potenciais são adquiridos pela aplicação de uma corrente elétrica e resolvidos matematicamente pelo problema direto através da equação de Laplace. O Método dos Elementos Finitos em conjunção com as equações oriundas do eletromagnetismo é utilizado para resolver o problema direto. O software EIDORS, contudo, através dos conceitos de problema direto e inverso, reconstrói imagens de Tomografia por Impedância Elétrica que possibilitam visualizar e comparar diferentes métodos de resolução do problema inverso para reconstrução de estruturas internas. Os métodos de Tikhonov, Noser, Laplace, Hiperparamétrico e Variação Total foram utilizados para obter uma solução aproximada (regularizada) para o problema de identificação. Na Tomografia por Impedância Elétrica, com as condições de contorno preestabelecidas de corrente elétricas e regiões definidas, o método hiperparamétrico apresentou uma solução aproximada mais adequada para reconstrução da imagem.