Use of neural networks in robot positioning of large flexible redundant manipulators

Deflection compensation of flexible boom structures in robot positioning is usually done using tables containing the magnitude of the deflection with inverse kinematics solutions of a rigid structure. The number of table values increases greatly if the working area of the boom is large and the required positioning accuracy is high. The inverse kinematics problems are very nonlinear, and if the structure is redundant, in some cases it cannot be solved in a closed form. If the structural flexibility of the manipulator arms is taken into account, the problem is almost impossible to solve using analytical methods. Neural networks offer a possibility to approximate any linear or nonlinear function. This study presents four different methods of using neural networks in the static deflection compensation and inverse kinematics solution of a flexible hydraulically driven manipulator. The training information required for training neural networks is obtained by employing a simulation model that includes elasticity characteristics. The functionality of the presented methods is tested based on the simulated and measured results of positioning accuracy. The simulated positioning accuracy is tested in 25 separate coordinate points. For each point, the positioning is tested with five different mass loads. The mean positioning error of a manipulator decreased from 31.9 mm to 4.1 mm in the test points. This accuracy enables the use of flexible manipulators in the positioning of larger objects. The measured positioning accuracy is tested in 9 separate points using three different mass loads. The mean positioning error decreased from 10.6 mm to 4.7 mm and the maximum error from 27.5 mm to 11.0 mm.

Un método reproducible para obtener peg biramificado monofuncional de alta pureza

PEGylation has become a widely applied technique to enhancing in vitro and in vivo stability of therapeutic proteins and to increasing materials biocompatibility. PEG branched structures have proven useful for protein and peptide modification. Furthermore, they may be better than linear structures for many purposes. This paper describes an improved procedure for obtaining 2-arms PEG based on L-lysine. The efficiency of the synthesis was not related to moisture of the raw materials. This procedure does not use hazardous reagents as previous protocols do. It implemented a purification process for obtaining the desired structure with high purity ( > 99%). Finally, the procedure described here allows the obtaining of others PEGylation reagents.

Kumppanuusohjelman strateginen johtaminen - Monitapaustutkimus puolustushallinnossa

Puolustushallinnossa syntyi 2000-luvun alussa strateginen aie keskittyä ydintoimintoihin, ulkoistaa pääosa tukitoiminnoista ja saavuttaa kustannussäästöjä, jotka voitaisiin kohdentaa ydintoimintoihin. Puolustusministeriö perusti ulkoistamisen hallinnoimiseksi kumppanuusohjelman, mihin kuului lähes alusta alkaen kuusi hanketta, jotka ovat nyt toteuttamisvaiheessa. Näistä valittiin neljä tähän tutkimukseen: maavoimien materiaalin kunnossapito, puolustusvoimien ruokahuolto, puolustusvoimien vaatetushuolto ja puolustushallinnon talous- ja henkilöstöhallinto. Kumppanuusohjelman strategisen johtamisen tutkimus perustuupuolustusministeriön ja puolustusvoimien asiakirja-aineistoihin sekä puolustushallinnon ylimmän johdon ja hankejohtajien haastatteluihin. Kumppanuusohjelmaa ja -hankkeita on seurattu vuodesta 2000 vuoden 2010 kevääseen asti. Tarkastelu kohdistuu strategiaprosessiin ja strategian sisältöön ”puolustushallinnon konsernissa”, johon kuuluvat tässä tutkimuksessa puolustusministeriö, pääesikunta ja puolustushaarat. Tutkimuksen tulokset tukevat viitekehyksessä esitettyjä näkökohtia. Laajan kumppanuusohjelman hallinta edellyttää hyvää strategisen johtamisen otetta. Selkeät päämäärät ja tavoitteet luovat perustan strategiaprosessille. Kumppanuusohjelman strategia muotoutui tarkastelujakson aikana niin strategiaprosessien kuin strategian sisällön suhteen. Toimiva ohjausjärjestelmä on puolustushallinnon avaintoimintoja strategisessa johtamisessa. Resurssiperusteinen strategia osoittautui tärkeäksi ulkoistamisissa ja sosiaalinen pääoma, erityisesti yhteisymmärrys osoittautui tärkeäksi tekijäksi konsernijohtamisessa. Kumppanuusohjelman strategisen johtamisen toimivuuden kehittämiseksi kartoitettiin tekijöitä, jotka muodostuivat tehokkaan strategisen johtamisen esteiksi. Esteitä kartoitettiin kumppanuusohjelmasta ja -hankkeista. Tutkimuksen tärkein kontribuutio kohdistuu strategisen johtamisen kehittämiseen. Se on mahdollista hankkimalla konsernin johtotasoilla yhteisymmärryskehittämisohjelmasta ennen ohjelman käynnistämistä, ottamalla huomioon strategisen johtamisen perusteet, ottamalla käyttöön jatkuva strategiaprosessi ja turvaamalla riittävä osaaminen kumppanuusohjelmassa ja -hankkeissa.

Algorithmic Solutions for Combinatorial Problems in Resource Management of Manufacturing Environments

This thesis studies the use of heuristic algorithms in a number of combinatorial problems that occur in various resource constrained environments. Such problems occur, for example, in manufacturing, where a restricted number of resources (tools, machines, feeder slots) are needed to perform some operations. Many of these problems turn out to be computationally intractable, and heuristic algorithms are used to provide efficient, yet sub-optimal solutions. The main goal of the present study is to build upon existing methods to create new heuristics that provide improved solutions for some of these problems. All of these problems occur in practice, and one of the motivations of our study was the request for improvements from industrial sources. We approach three different resource constrained problems. The first is the tool switching and loading problem, and occurs especially in the assembly of printed circuit boards. This problem has to be solved when an efficient, yet small primary storage is used to access resources (tools) from a less efficient (but unlimited) secondary storage area. We study various forms of the problem and provide improved heuristics for its solution. Second, the nozzle assignment problem is concerned with selecting a suitable set of vacuum nozzles for the arms of a robotic assembly machine. It turns out that this is a specialized formulation of the MINMAX resource allocation formulation of the apportionment problem and it can be solved efficiently and optimally. We construct an exact algorithm specialized for the nozzle selection and provide a proof of its optimality. Third, the problem of feeder assignment and component tape construction occurs when electronic components are inserted and certain component types cause tape movement delays that can significantly impact the efficiency of printed circuit board assembly. Here, careful selection of component slots in the feeder improves the tape movement speed. We provide a formal proof that this problem is of the same complexity as the turnpike problem (a well studied geometric optimization problem), and provide a heuristic algorithm for this problem.

Uusien uhkakuvien luominen: tapaus 'kiinalaiset kybersoturit' : lingvistinen uhka-analyysi kyberdiskurssista

Since his inauguration, President Barack Obama has emphasized the need for a new cybersecurity policy, pledging to make it a "national security priority". This is a significant change in security discourse after an eight-year war on terror – a term Obama announced to be no longer in use. After several white papers, reports and the release of the so-called 60-day Cybersecurity Review, Obama announced the creation of a "cyber czar" position and a new military cyber command to coordinate American cyber defence and warfare. China, as an alleged cyber rival, has played an important role in the discourse that introduced the need for the new office and the proposals for changes in legislation. Research conducted before this study suggest the dominance of state-centric enemy descriptions paused briefly after 9/11, but returned soon into threat discourse. The focus on China's cyber activities fits this trend. The aim of this study is to analyze the type of modern threat scenarios through a linguistic case study on the reporting on Chinese hackers. The methodology of this threat analysis is based on the systemic functional language theory, and realizes as an analysis of action and being descriptions (verbs) used by the American authorities. The main sources of data include the Cybersecurity Act 2009, Securing Cyberspace for the 44th Presidency, and 2008 Report to Congress of the U.S. - China Economic and Security Review Commission. Contrary to the prevailing and popularized terrorism discourse, the results show the comeback of Cold War rhetoric as well as the establishment of a state-centric threat perception in cyber discourse. Cyber adversaries are referred to with descriptions of capacity, technological superiority and untrustworthiness, whereas the ‘self’ is described as vulnerable and weak. The threat of cyber attacks is compared to physical attacks on critical military and civilian infrastructure. The authorities and the media form a cycle, in which both sides quote each other and foster each other’s distrust and rhetoric. The white papers present China's cyber army as an existential threat. This leads to cyber discourse turning into a school-book example of a securitization process. The need for security demands action descriptions, which makes new rules and regulations acceptable. Cyber discourse has motives and agendas that are separate from real security discourse: the arms race of the 21st century is about unmanned war.

Viestitaktiikan kehittyminen yhtymän viestijärjestelmän käyttöönoton jälkeen

Tutkimus käynnistyi Maanpuolustuskorkeakoulun taktiikan laitoksen esittäessä aihepiiriä tutkittavaksi. Tutkimuksen tavoitteena on ollut lisätä tietämystä viestitaktiikan kehittymisestä yhtymän viestijärjestelmän käyttöönoton jälkeen 1980 – 2000-luvuilla osana operatiivistaktisten toimintaperiaatteiden ja -tapojen kehittymistä. Tutkimuksella on pyritty syventämään tietämystä taktisten periaatteiden muutoksista viestitaktiikan näkökulmasta. Tutkimuksessa tarkasteltiin maavoimien YVI-järjestelmillä varustettujen yhtymien viestitaktiikkaa sekä niissä tapahtuneita muutoksia. Muutoksia tarkasteltaessa tutkimuksessa keskityttiin käsitykseen viestitaktiikasta, viestitaktisiin periaatteisiin sekä viestipäällikköön ja hänen toimintakenttäänsä. Viestitaktisia periaatteita ja niissä tapahtuneita muutoksia vertailtiin myös yleisiin taktisiin periaatteisiin ja niiden painotuksissa tapahtuneisiin muutoksiin. Tutkimus on luonteeltaan kvalitatiivinen. Tutkimusongelmia lähestyttiin fenomenografisella tutkimusotteella, jossa tavoitteena on kuvailla, analysoida ja ymmärtää erilaisia käsityksiä ilmiöistä sekä käsitysten keskinäisistä suhteista. Lähdeaineiston muodostivat 18 viestitaktiikan asiantuntijan kokemusperäiset käsitykset viestitaktiikasta ja sen kehittymisestä YVIjärjestelmien käyttöönoton jälkeen. Käsityksistä muodostettiin merkitys- ja kuvauskategorioiden sekä tutkijan esiymmärryksen pohjalta induktiivisen päättelyn avulla tutkimuksen varsinaiset johtopäätökset. Tutkimushenkilöiden käsitysten sekä taktiikan ja viestitaktiikan aikaisempien määritelmien perusteella johtopäätöksenä määritettiin, että viestitaktiikka on tehtävän toteuttamiseen käytettävissä olevan viestillisen kapasiteetin optimaalista suunnittelua, soveltamista ja käyttöä viestivoimana haluttujen päämäärien saavuttamiseksi ja viestitaisteluiden voittamiseksi. Viestitaktikointi edellyttää viestitaisteluun liittyvien keinojen tuntemista sekä taitoa soveltaa niitä käytännössä. Tutkimustulosten perusteella keskeisiksi viestitaktisiksi periaatteiksi tärkeysjärjestyksessä muodostuivat - päämäärän ja tehtävän selkeys - varautuminen odottamattomiin tilanteen vaihteluihin - yksinkertaisuus - aktiivisuus ja oma-aloitteisuus. Keskeisiksi merkitystään lisänneiksi viestitaktisiksi periaatteiksi muodostuivat - voimien vaikutuksen keskittäminen - joukkojen ja voimien jakaminen (reservi) - varautuminen odottamattomiin tilanteen vaihteluihin - salaaminen ja harhauttaminen - turvallisuus. Selkeimpänä viestipäällikön tehtävien muutoksena pidettiin siirtymistä yksityiskohtaisesta viestiyhteyksien suunnittelijasta kokonaisvaltaiseksi yhtymän viestitoiminnan johtajaksi. Tutkimustulosten ja aikaisempien määritelmien perusteella johtopäätöksenä määritettiin, että viestipäällikkö johtaa yhtymän viestitoimintaa komentajan antamien vaatimusten mukaisesti ja vastaa yhtymän johtoryhmän jäsenenä viestitaktisista ratkaisuista haluttujen päämäärien saavuttamiseksi ja viestitaisteluiden voittamiseksi. Viestipäälliköltä edellytetään viestitaisteluun liittyvien keinojen tuntemista sekä taitoa soveltaa niitä käytännössä. Tutkimuksen mukaan yhtymän viestitaktiikkaan merkittävimmin vaikuttaneita tekijöitä olivat yhtymän viestijärjestelmien käyttöönotto, uusien esikunta- ja viestiyksiköiden kehittäminen, kiinteän viestiverkon ja johtamisjärjestelmäalan merkityksen kasvaminen, käytettävien tekniikoiden kehittyminen sekä joukkojen ja johtoportaiden tiedonsiirtotarpeiden kasvaminen. Viestitaktiikan osalta voidaan todeta deterministisen näkemyksen taistelusta ja taistelutilasta muuttuneen yleisten taktisten periaatteiden muutosten mukaisesti aikaisempaa monimuotoisempaan ja rohkeampaan, voluntaarisempaan, suuntaan.

Modified method for bronchial suture by Ramirez Gama compared to separate stitches suture: experimental study

OBJECTIVE: To experimentally compare two classic techniques described for manual suture of the bronchial stump.METHODS: We used organs of pigs, with isolated trachea and lungs, preserved by refrigeration. We dissected 30 bronchi, which were divided into three groups of ten bronchi each, of 3mm, 5mm, and 7mm, respectively. In each, we performed the suture with simple, separated, extramucosal stitches in five other bronchi, and the technique proposed by Ramirez and modified by Santos et al in the other five. Once the sutures were finished, the anastomoses were tested using compressed air ventilation, applying an endotracheal pressure of 20mmHg.RESULTS: the Ramirez Gama suture was more effective in the bronchi of 3, 5 and 7 mm, and there was no air leak even after subjecting them to a tracheal pressure of 20mmHg. The simple interrupted sutures were less effective, with extravasation in six of the 15 tested bronchi, especially in the angles of the sutures. These figures were not significant (p = 0.08).CONCLUSION: manual sutures of the bronchial stumps were more effective when the modified Ramirez Gama suture was used in the caliber bronchi arms when tested with increased endotracheal pressure.

TP53 mutations and loss of heterozygosity of chromosome 17 in colorectal tumors

The incidence of TP53 point mutations and loss of heterozygosity (LOH) of chromosome 17 in colorectal tumors was determined in a group of Brazilian patients. We screened DNA samples from tumors and distal normal mucosa of 39 patients with colorectal cancer, for TP53 mutations by PCR-SSCP (single-strand conformation polymorphism) analysis. Chromosome 17 LOH was investigated using six PCR-based polymorphic markers and one VNTR probe. TP53 mutations were demonstrated in 15/39 of the cases. Mutations were distributed among all exons examined (five to eight), the majority of them being G/C to A/T transitions. LOH of chromosome 17p and 17q was detected in 70 and 46% of the tumors, respectively. There was a significant association between TP53 mutations and LOH in chromosome 17p (P = 0.0035) and 17q (P = 0.03). Although no correlation was observed between TP53 genetic alterations and clinical/ pathological characteristics, the association of TP53 mutations with loss of both chromosome 17 arms may indicate that TP53 inactivation provokes an unstable phenotype in tumor cells in colorectal tumors.

Recuperation and improvement of chromosome preparations stained with silver nitrate

Both periodic acid and photographic reagents have been used to remove the silver nitrate residues from cytological preparations. We used potassium ferricyanide to remove AgNO3 salts in cases of excessive chromosome impregnation. This method produced partial decolorization, with contrast enhancement. Counterstaining with Giemsa also promoted a better contrast between chromosome arms and NORs, which were preserved and retained a dark color. Application of this procedure to chromosome preparations treated sequentially for CBG banding/AgNO3 staining promoted complete decolorization of C+ regions, leading to "reverse" C-banding, generally with high contrast.

Chromosomal polymorphism in urban populations of Drosophila paulistorum

Drosophila paulistorum populations colonizing the urban area of Porto Alegre, southern Brazil, were studied with the objective of characterizing their chromosomal polymorphism in this new environment. Despite being geographically and ecologically marginal and the fact that the colonization of the urban area seems to be a recent event, the populations showed a large number of inversions on all chromosome arms. Differences regarding inversion frequencies and percentage of heterozygosis were found when we compared the samples with respect to geographical, microenvironmental and temporal aspects. Such differences, however, could be attributed to both selective and stochastic factors

Behavioral effects of "vehicle" microinjected into the dorsal periaqueductal grey of rats tested in the elevated plus maze

To investigate the behavioral effects of different vehicles microinjected into the dorsal periaqueductal grey (DPAG) of male Wistar rats, weighing 200-250 g, tested in the elevated plus maze, animals were implanted with cannulas aimed at this structure. One week after surgery the animals received microinjections into the DPAG of 0.9% (w/v) saline, 10% (v/v) dimethyl sulfoxide (DMSO), 2% (v/v) Tween-80, 10% (v/v) propylene glycol, or synthetic cerebrospinal fluid (CSF). Ten min after the injection (0.5 &micro;l) the animals (N = 8-13/group) were submitted to the elevated plus maze test. DMSO significantly increased the number of entries into both the open and enclosed arms when compared to 0.9% saline (2.7 &plusmn; 0.8 and 8.7 &plusmn; 1.3 vs 0.8 &plusmn; 0.3 and 5.1 &plusmn; 0.9, respectively, Duncan test, P<0.05), and tended to increase enclosed arm entries as compared to 2% Tween-80 (8.7 &plusmn; 1.3 vs 5.7 &plusmn; 0.9, Duncan test, P<0.10). In a second experiment no difference in plus maze exploration was found between 0.9% saline- or sham-injected animals (N = 11-13/group). These results indicate that intra-DPAG injection of some commonly used vehicles such as DMSO, saline or Tween-80 affects the exploratory activity of rats exposed to the elevated plus maze in statistically different manners

Influence of lactation on motor activity and elevated plus maze behavior

Lactating rats show less noise-induced freezing and fewer inhibitory responses on the 6th day post-delivery when submitted to water and food deprivation in a classical conflict paradigm. Lactating mice go more often to the illuminated chamber in a light-dark cage and stay longer in it than virgin females. The present study was designed to assess the influence of this physiological state, i.e. lactation, on the elevated plus maze (EPM) and open-field behavior in adult female rats. Total (TL) and central (CL) locomotion and rearing (RF) frequencies were measured in an open-field. Number of entries into the open and closed arms as well as the time spent in each of these arms were measured in the EPM. Percent time spent and number of entries into the open arms were calculated and compared. In the open-field, TL was significantly decreased (115 ± 10.6 vs 150 ± 11.6) while CL and RF did not differ from those presented by virgin rats. In the EPM, lactating rats displayed a significant reduction in percent time spent (10.9 ± 1.5 vs 17.4 ± 2.3) in the open arms as well as a tendency to a reduction in percent entries into the open arms (35.7 ± 4.7 vs 45.7 ± 4.3). These results show that the physiological state of lactation modulates the open-field and EPM behaviors in rats

Paradoxical increase of exploratory behavior in the elevated plus-maze by rats exposed to two kinds of aversive stimuli

Albino rats were submitted to a 24-h period of social isolation (individual housing) combined with 0, 1, 2 or 3 twenty-four-hour periods of exposure to different vivaria (novelty) and tested in the elevated plus-maze. Results, reported as mean ± SEM for N = 12, show that the time (in seconds) spent in the open arms by rats exposed to novelty for 0, 1, 2 and 3 days was 28.3 ± 4.4, 31.6 ± 3.2, 29.1 ± 3.5 and 25.0 ± 3.3, respectively, when grouped in the same vivarium; 29.6 ± 2.7, 7.6 ± 2.1, 9.6 ± 4.4 and 28.5 ± 3.7 when grouped in different vivaria; 2.9 ± 1.1, 1.8 ± 1.0, 2.7 ± 1.1 and 0 ± 0 when isolated in the same vivarium, and 2.6 ± 1.1, 31.5 ± 8.2, 24.8 ± 4.2 and 0 ± 0 when isolated in different vivaria. The number of entries into the open and closed arms followed a similar trend. This indicates that, separately, both exposure to novelty and isolation are aversive manipulations. Paradoxically, when novelty was combined with a concomitant 24-h period of social isolation prior to testing, the decrease in exploratory behavior caused by either of the two aversive manipulations alone was reverted. These results are indicative that less intense anxiety triggers mechanisms mediating less energetic behavior such as freezing, while higher levels trigger mechanisms mediating more vigorous action, such as flight/fight behavior, since the combination of two aversive situations resulted in more exploratory behavior than with either alone. They are also suggestive of habituation to the effects of novelty, since exposure to it for 3 days produced exploratory behavior similar to that of controls

Hippocampal histamine receptors and conflictive exploration in the rat: studies using the elevated asymmetric plus-maze

The possible role of histamine receptors in the hippocampal formation on the exploratory motivation and emotionality of the rat was studied. An elevated asymmetric plus-maze composed of 4 different arms (no walls, single high wall, high and low walls and two high walls) arranged at 90o angles was used. The exploration score, considered to be an index of exploratory motivation, and the permanency score, considered to be an index of emotionality (anxiety), were determined. Histamine was administered locally into the ventral hippocampus at three different doses (9, 45 and 90 nmol). Another group of rats was also microinjected with 45 nmol of pyrilamine (a histamine H1 receptor antagonist) or ranitidine (a histamine H2 receptor antagonist) in addition to 9 nmol of histamine in order to identify the possible type of histamine receptor involved. Histamine administration significantly inhibited the exploration score and increased the permanency score at the doses of 9 and 45 nmol in two of four arms. These effects were completely blocked by the administration of either histamine receptor antagonist. The present results suggest that in the hippocampal formation histamine inhibits exploratory motivation and decreases emotionality by activating both types of histamine receptors. Also, the elevated asymmetric plus-maze appears to be a suitable technique to quantify exploration and possibly" anxiety"