Analysis and Control of Robot Manipulators with Kinematic Redundancy

A closed-form solution formula for the kinematic control of manipulators with redundancy is derived, using the Lagrangian multiplier method. Differential relationship equivalent to the Resolved Motion Method has been also derived. The proposed method is proved to provide with the exact equilibrium state for the Resolved Motion Method. This exactness in the proposed method fixes the repeatability problem in the Resolved Motion Method, and establishes a fixed transformation from workspace to the joint space. Also the method, owing to the exactness, is demonstrated to give more accurate trajectories than the Resolved Motion Method. In addition, a new performance measure for redundancy control has been developed. This measure, if used with kinematic control methods, helps achieve dexterous movements including singularity avoidance. Compared to other measures such as the manipulability measure and the condition number, this measure tends to give superior performances in terms of preserving the repeatability property and providing with smoother joint velocity trajectories. Using the fixed transformation property, Taylor's Bounded Deviation Paths Algorithm has been extended to the redundant manipulators.

Design and Control of a Closed-Loop Brushless Torque Actuator

This report explores the design and control issues associated with a brushless actuator capable of achieving extremely high torque accuracy. Models of several different motor - sensor configurations were studied to determine dynamic characteristics. A reaction torque sensor fixed to the motor stator was implemented to decouple the transmission dynamics from the sensor. This resulted in a compact actuator with higher bandwidth and precision than could be obtained with an inline or joint sensor. Testing demonstrated that closed-loop torque accuracy was within 0.1%, and the mechanical bandwidth approached 300 Hz.

Modelling scenarios of diffusion and control of pandemic influenza, italy

En aquest article es resumeixen els resultats publicats en un informe de l' ISS (Istituto Superiore di Sanità) del desembre de 2006, sobre un model matemàtic desenvolupat per un grup de treball que inclou a investigadors de les Universitats de Trento, Pisa i Roma, i els Instituts Nacionals de Salut (Istituto Superiore di Sanità, ISS), per avaluar i mesurar l'impacte de la transmissió i el control de la pandèmia de grip

On social networks and game theory, some research problems

Seminar given as part of social networking course, to give a brief overview of some applied examples game theory used in social network simulation

What are the priorities for prevention and control of non-communicable diseases and injuries in sub-Saharan Africa and South East Asia?

Last year’s UN high level meeting sought to galvanise the international community into scaling up its response to the escalating global burden of non-communicable diseases. With resources tight, D Chisholm and colleagues examine which interventions should be given priority for action and investment

Branching random motions, nonlinear hyperbolic systems and traveling waves

A branching random motion on a line, with abrupt changes of direction, is studied. The branching mechanism, being independient of random motion, and intensities of reverses are defined by a particle's current direction. A soluton of a certain hyperbolic system of coupled non-linear equations (Kolmogorov type backward equation) have a so-called McKean representation via such processes. Commonly this system possesses traveling-wave solutions. The convergence of solutions with Heaviside terminal data to the travelling waves is discussed.This Paper realizes the McKean programme for the Kolmogorov-Petrovskii-Piskunov equation in this case. The Feynman-Kac formula plays a key role.

A contrastive analysis of non-native interlanguage english intonation systems and their implication in the organisation of information from a functional perspectiva : a study based on a computerized corpus of spanish learners of english

El contexto teórico y empírico de esta investigación sobre entonación, se enmarca dentro de la filosofía lingüística de la teoría sistémico-funcional. El modelo metodológico empleado se basa en la Lingüística de Corpus. La descripción de la adquisición y aprendizaje de la lengua extranjera está justificada dentro del marco teórico de la teoría de interlengua y la adquisición de segundas lenguas y lenguas extranjeras.. El presente estudio del corpus comparativo y longitudinal de aprendices y hablantes nativos de lengua inglesa, tiene como objetivo principal investigar los modelos de entonación producidos por ambos grupos de hablantes. Se pretende demostrar que la diferencia a nivel entonativo entre estos dos grupos no sólo tiene como resultado que los no nativos tengan acento extranjero; sino que puede afectar al mensaje transmitido, en cuanto a la estructura y organización de la información dentro del discurso oral en las metafunciones textual e interpersonal.. Se asume la existencia de un sistema entonativo de interlengua, de esta forma este análisis tiene como objeto no sólo reflejar los errores sino también los posibles sistemas aproximativos de los aprendices mencionados..

Power and control : kingship in the middle ages c. 1100-1500.

Trata el tema de la monarquía medieval inglesa entre 1100 y 1500, desde una perspectiva que ayude a los alumnos a acercarse a la historia de la Edad Media y mostrar su relevancia en el mundo actual. Este contenido se adapta a las pruebas de evaluación que realiza el organismo Oxford Cambridge and RSA Examinations (OCR) para obtener el título de General Certificate Secondary Education (GCSE) en historia. Se completa con un material online de apoyo al profesorado.

Environmental systems and societies.

Este recurso se adapta a los contenidos y enfoques específicos del International Baccalaureate (IB) y proporciona a los alumnos los conocimientos científicos y las herramientas necesarias para garantizar la comprensión y el aprendizaje del tema, y el desarrollo de argumentos y comentarios críticos sobre los grandes problemas ambientales a los que se enfrentan los seres humanos, las otras especies y el mundo en que vivimos. También, para permitir a los estudiantes afrontar decisiones importantes sobre los desafíos planteados.

Operation and control of SBR processes for enhanced biological nutrient removal from wastewater

In the last decades, the awareness of environmental issues has increased in society considerably. There is an increasing need to improve the effluent quality of domestic wastewater treatment processes. This thesis describes the application of the Sequencing Batch Reactor (SBR) technology for Biological Nutrient Removal (BNR) from the wastewater. In particular, the work presented evolves from the nitrogen removal to the biological nutrient removal (i.e. nitrogen plus phosphorous removal) with special attention to the operational strategy design, the identification of possible reactor cycle controls or the influent composition related to the process efficiency. In such sense, also the use of ethanol as an external carbon (when low influent Carbon:Phosphorus (C:P) or Carbon:Nitrogen (C:N) ratios are presented) are studied as an alternative to maintain the BNR efficiency.

O2 activation at bioinspired complexes: dinuclear copper systems and mononuclear non-heme iron compounds. Mechanisms and catalytic applications in oxidative transformations

L'activació d'oxigen que té lloc en els éssers vius constitueix una font d'inspiració pel desenvolupament d'alternatives als oxidants tradicionals, considerats altament tòxics i nocius. En aquesta treball s'utilitzen compostos sintètics com a models del centre actiu de proteïnes dinuclears de coure i mononuclears de ferro de tipus no-hemo que participen en l'activació d'oxigen en els éssers vius. Els sistemes dinuclears de coure mostren un centre de tipus coure(III) bis(oxo) que és capaç de dur a terme l'ortho-hidroxilació de fenols de manera similar a la reacció que catalitza la proteïna tirosinasa. Per altra banda, els sistemes de ferro desenvolupats en aquest treball actuen com a models de les dioxigenases de Rieske i poden dur a terme l'hidroxilació estereoespecífica d'alcans i l'epoxidació i cis-dihidroxilació d'olefines utilitzant peròxid d'hidrogen com a agent oxidant. Tot plegat demostra que el desenvolupament de sistemes model constitueix una bona estratègia per l'estudi dels sistemes naturals.

A Study on the Efficiency of Synbiotics for Prevention and Control of Diarrhoea in 21 Dogs Submitted to Radiotherapy

A synbiotic is a formulation containing both probiotics and prebiotics. This study aims to evaluate the effect of supplementation with a synbiotic containing Enterococcus faecium strain E1707 (NCIMB 10415) in preventing or controlling diarrhoea and other gastrointestinal signs in boarded canine radiotherapy patients. A double-blind, randomized, placebocontrolled clinical trial was carried out in 21 adult dogs undergoing radiotherapy and boarded for a duration period of 2 to 3 weeks to treat their cancers. Dogs were randomly divided between two groups: A and B, the synbiotic and placebo group, respectively. The content of the sachets was added to the food once daily. Faecal score was assessed daily, and dogs were also monitored for the development of diarrhoea and other gastrointestinal signs such as weight loss, reduced appetite and vomiting. The results from descriptive statistics seem to favour group B, however these findings were not validated with inferential statistics due to insufficient statistical sample power. Because of this, it is not possible to make conclusions about the benefits of synbiotic as supportive treatment for dogs undergoing radiotherapy. All results should be considered to be preliminary, until they are elucidated by further animal inclusion.