三峡永久船闸高边坡开挖三维离散元数值模拟

采用面-面接触的三维离散元刚性块体模型，从实测节理面中取出其中的三组，按照其倾向、倾角和节理间距将三峡永久船闸未开挖的区域划分为10~5个离散单元，通过施加力边界条件，给出了与实测初始地应力场接近的数值模拟结果；然后，分4步模拟了永久船闸的开挖过程。计算结果表明：开挖过程会引起节理面出现张开趋势，个别岩体还会沿着节理面滑移。岩体位移的不对称现象较为自然地说明了由节理引起的岩体各向异性特征。

五轴框架式机器人激光加工系统轨迹算法研究

在集成化智能激光加工系统工作原理的基础上提出了五轴机器人的激光加工轨迹算法。将三维离散数据点集拟合为空间参数曲面，在此参数曲面上规划五轴激光加工的等距轨迹。给出了冲压模具激光强化加工实例，取得了理想的加工效果。

A Comparison of Two Methods for Enhancing the Recovery of Seagrasses into Propellor Scars: Mechanical Injection of a Nutrient and Growth Hormone Solution vs. Defecation by Roosting Seabirds: Final Report.

Based on the recovery rates for Thalassia testudinum measured in this study for scars of these excavation depths and assuming a linear recovery horizon, we estimate that it would take ~ 6.9 years (95% CI. = 5.4 to 9.6 years) for T. testudinum to return to the same density as recorded for the adjacent undisturbed population. The application of water soluble fertilizers and plant growth hormones by mechanical injection into the sediments adjacent to ten propellor scars at Lignumvitae State Botanical Site did not significantly increase the recovery rate of Thalassia testudinum or Halodule wrightii. An alternative method of fertilization and restoration of propellor scars was also tested by a using a method of “compressed succession” where Halodule wrightii is substituted for T. testudinum in the initial stages of restoration. Bird roosting stakes were placed among H.wrightii bare root plantings in prop scars to facilitate the defecation of nitrogen and phosphorus enriched feces. In contrast to the fertilizer injection method, the bird stakes produced extremely high recovery rates of transplanted H. wrightii. We conclude that use of a fertilizer/hormone injection machine in the manner described here is not a feasible means of enhancing T. testudinum recovery in propellor scars on soft bottom carbonate sediments. Existing techniques such as the bird stake approach provide a reliable, and inexpensive alternative method that should be considered for application to restoration of seagrasses in these environments. Document contains 40 pages)

Estudio taxonómico de las especies ibéricas del género Odiellus (Arachnida: Opiliones)

El género Odiellus Roewer, 1923, diagnosticable por un robusto tridente frontal y una excavación dorso-distal en el tronco del pene, alberga seis especies ibéricas. La elevada variabilidad detectada sugiere que hay más especies. En este trabajo se realiza la caracterización de las especies ibéricas, así como su estudio morfológico y morfométrico (haciendo hincapié en las del noreste ibérico), y la descripción de una nueva especie de Cataluña, usando para ello ejemplares conservados en la colección del Departamento de Zoología y Biología Celular Animal de la UPV/EHU, así como ejemplares capturados durante una campaña en el Macizo del Garraf entre el 1 y el 3 de noviembre del 2012. Los resultados muestran que las variables morfométricas estudiadas influyen de manera desigual en la varianza muestral, lo cual puede ser útil en futuros estudios a la hora de decidir distintos caracteres diagnósticos para cada una de las especies de Odiellus ibéricos.

Designing High Performance Factory Automation Applications on Top of DDS

13 p.

[R_Logroño_Muralla] Documentación geométrica de la muralla del Cubo del Revellín de Logroño (La Rioja)

[ES] El tramo de muralla se compone de un lienzo recto de unos 40 metros de longitud y entre 6 y 12 metros de altura visible (según los tramos). En el centro de este tramo se encuentra una puerta monumental (denominada Puerta del Camino) a la que se accede por un puente. Este tramo recto se continúa por un cubo cilíndrico de unos 10 metros de radio. Continuando por el otro lado del Cubo la muralla se ha perdido pero se ha realizado una excavación que se extiende otros 30 metros en la que se han encontrado restos de varios sistemas defensivos.

Estimation and inference for grasping and manipulation tasks using vision and kinesthetic sensors

This thesis presents a novel framework for state estimation in the context of robotic grasping and manipulation. The overall estimation approach is based on fusing various visual cues for manipulator tracking, namely appearance and feature-based, shape-based, and silhouette-based visual cues. Similarly, a framework is developed to fuse the above visual cues, but also kinesthetic cues such as force-torque and tactile measurements, for in-hand object pose estimation. The cues are extracted from multiple sensor modalities and are fused in a variety of Kalman filters.

A hybrid estimator is developed to estimate both a continuous state (robot and object states) and discrete states, called contact modes, which specify how each finger contacts a particular object surface. A static multiple model estimator is used to compute and maintain this mode probability. The thesis also develops an estimation framework for estimating model parameters associated with object grasping. Dual and joint state-parameter estimation is explored for parameter estimation of a grasped object's mass and center of mass. Experimental results demonstrate simultaneous object localization and center of mass estimation.

Dual-arm estimation is developed for two arm robotic manipulation tasks. Two types of filters are explored; the first is an augmented filter that contains both arms in the state vector while the second runs two filters in parallel, one for each arm. These two frameworks and their performance is compared in a dual-arm task of removing a wheel from a hub.

This thesis also presents a new method for action selection involving touch. This next best touch method selects an available action for interacting with an object that will gain the most information. The algorithm employs information theory to compute an information gain metric that is based on a probabilistic belief suitable for the task. An estimation framework is used to maintain this belief over time. Kinesthetic measurements such as contact and tactile measurements are used to update the state belief after every interactive action. Simulation and experimental results are demonstrated using next best touch for object localization, specifically a door handle on a door. The next best touch theory is extended for model parameter determination. Since many objects within a particular object category share the same rough shape, principle component analysis may be used to parametrize the object mesh models. These parameters can be estimated using the action selection technique that selects the touching action which best both localizes and estimates these parameters. Simulation results are then presented involving localizing and determining a parameter of a screwdriver.

Lastly, the next best touch theory is further extended to model classes. Instead of estimating parameters, object class determination is incorporated into the information gain metric calculation. The best touching action is selected in order to best discern between the possible model classes. Simulation results are presented to validate the theory.

Complex behavior and perception in Drosophila emerges from iterative feedback-regulated reflexes

For a hungry fruit fly, locating and landing on a fermenting fruit where it can feed, find mates, and lay eggs, is an essential and difficult task requiring the integration of both olfactory and visual cues. Understanding how flies accomplish this will help provide a comprehensive ethological context for the expanding knowledge of their neural circuits involved in processing olfaction and vision, as well as inspire novel engineering solutions for control and estimation in computationally limited robotic applications. In this thesis, I use novel high throughput methods to develop a detailed overview of how flies track odor plumes, land, and regulate flight speed. Finally, I provide an example of how these insights can be applied to robotic applications to simplify complicated estimation problems. To localize an odor source, flies exhibit three iterative, reflex-driven behaviors. Upon encountering an attractive plume, flies increase their flight speed and turn upwind using visual cues. After losing the plume, flies begin zigzagging crosswind, again using visual cues to control their heading. After sensing an attractive odor, flies become more attracted to small visual features, which increases their chances of finding the plume source. Their changes in heading are largely controlled by open-loop maneuvers called saccades, which they direct towards and away from visual features. If a fly decides to land on an object, it begins to decelerate so as to maintain a stereotypical ratio of expansion to retinal size. Once they reach a stereotypical distance from the target, flies extend their legs in preparation for touchdown. Although it is unclear what cues they use to trigger this behavior, previous studies have indicated that it is likely under visual control. In Chapter 3, I use a nonlinear control theoretic analysis and robotic testbed to propose a novel and putative mechanism for how a fly might visually estimate distance by actively decelerating according to a visual control law. Throughout these behaviors, a common theme is the visual control of flight speed. Using genetic tools I show that the neuromodulator octopamine plays an important role in regulating flight speed, and propose a neural circuit for how this controller might be implemented in the flies brain. Two general biological and engineering principles are evident across my experiments: (1) complex behaviors, such as foraging, can emerge from the interactions of simple independent sensory-motor modules; (2) flies control their behavior in such a way that simplifies complex estimation problems.

Functional genomic studies of the structure and regulation of eukaryotic transcriptomes

The main focus of this thesis is the use of high-throughput sequencing technologies in functional genomics (in particular in the form of ChIP-seq, chromatin immunoprecipitation coupled with sequencing, and RNA-seq) and the study of the structure and regulation of transcriptomes. Some parts of it are of a more methodological nature while others describe the application of these functional genomic tools to address various biological problems. A significant part of the research presented here was conducted as part of the ENCODE (ENCyclopedia Of DNA Elements) Project.

The first part of the thesis focuses on the structure and diversity of the human transcriptome. Chapter 1 contains an analysis of the diversity of the human polyadenylated transcriptome based on RNA-seq data generated for the ENCODE Project. Chapter 2 presents a simulation-based examination of the performance of some of the most popular computational tools used to assemble and quantify transcriptomes. Chapter 3 includes a study of variation in gene expression, alternative splicing and allelic expression bias on the single-cell level and on a genome-wide scale in human lymphoblastoid cells; it also brings forward a number of critical to the practice of single-cell RNA-seq measurements methodological considerations.

The second part presents several studies applying functional genomic tools to the study of the regulatory biology of organellar genomes, primarily in mammals but also in plants. Chapter 5 contains an analysis of the occupancy of the human mitochondrial genome by TFAM, an important structural and regulatory protein in mitochondria, using ChIP-seq. In Chapter 6, the mitochondrial DNA occupancy of the TFB2M transcriptional regulator, the MTERF termination factor, and the mitochondrial RNA and DNA polymerases is characterized. Chapter 7 consists of an investigation into the curious phenomenon of the physical association of nuclear transcription factors with mitochondrial DNA, based on the diverse collections of transcription factor ChIP-seq datasets generated by the ENCODE, mouseENCODE and modENCODE consortia. In Chapter 8 this line of research is further extended to existing publicly available ChIP-seq datasets in plants and their mitochondrial and plastid genomes.

The third part is dedicated to the analytical and experimental practice of ChIP-seq. As part of the ENCODE Project, a set of metrics for assessing the quality of ChIP-seq experiments was developed, and the results of this activity are presented in Chapter 9. These metrics were later used to carry out a global analysis of ChIP-seq quality in the published literature (Chapter 10). In Chapter 11, the development and initial application of an automated robotic ChIP-seq (in which these metrics also played a major role) is presented.

The fourth part presents the results of some additional projects the author has been involved in, including the study of the role of the Piwi protein in the transcriptional regulation of transposon expression in Drosophila (Chapter 12), and the use of single-cell RNA-seq to characterize the heterogeneity of gene expression during cellular reprogramming (Chapter 13).

The last part of the thesis provides a review of the results of the ENCODE Project and the interpretation of the complexity of the biochemical activity exhibited by mammalian genomes that they have revealed (Chapters 15 and 16), an overview of the expected in the near future technical developments and their impact on the field of functional genomics (Chapter 14), and a discussion of some so far insufficiently explored research areas, the future study of which will, in the opinion of the author, provide deep insights into many fundamental but not yet completely answered questions about the transcriptional biology of eukaryotes and its regulation.

Two and Three Finger Caging of Polygons and Polyhedra

Multi-finger caging offers a rigorous and robust approach to robot grasping. This thesis provides several novel algorithms for caging polygons and polyhedra in two and three dimensions. Caging refers to a robotic grasp that does not necessarily immobilize an object, but prevents it from escaping to infinity. The first algorithm considers caging a polygon in two dimensions using two point fingers. The second algorithm extends the first to three dimensions. The third algorithm considers caging a convex polygon in two dimensions using three point fingers, and considers robustness of this cage to variations in the relative positions of the fingers.

This thesis describes an algorithm for finding all two-finger cage formations of planar polygonal objects based on a contact-space formulation. It shows that two-finger cages have several useful properties in contact space. First, the critical points of the cage representation in the hand’s configuration space appear as critical points of the inter-finger distance function in contact space. Second, these critical points can be graphically characterized directly on the object’s boundary. Third, contact space admits a natural rectangular decomposition such that all critical points lie on the rectangle boundaries, and the sublevel sets of contact space and free space are topologically equivalent. These properties lead to a caging graph that can be readily constructed in contact space. Starting from a desired immobilizing grasp of a polygonal object, the caging graph is searched for the minimal, intermediate, and maximal caging regions surrounding the immobilizing grasp. An example constructed from real-world data illustrates and validates the method.

A second algorithm is developed for finding caging formations of a 3D polyhedron for two point fingers using a lower dimensional contact-space formulation. Results from the two-dimensional algorithm are extended to three dimension. Critical points of the inter-finger distance function are shown to be identical to the critical points of the cage. A decomposition of contact space into 4D regions having useful properties is demonstrated. A geometric analysis of the critical points of the inter-finger distance function results in a catalog of grasps in which the cages change topology, leading to a simple test to classify critical points. With these properties established, the search algorithm from the two-dimensional case may be applied to the three-dimensional problem. An implemented example demonstrates the method.

This thesis also presents a study of cages of convex polygonal objects using three point fingers. It considers a three-parameter model of the relative position of the fingers, which gives complete generality for three point fingers in the plane. It analyzes robustness of caging grasps to variations in the relative position of the fingers without breaking the cage. Using a simple decomposition of free space around the polygon, we present an algorithm which gives all caging placements of the fingers and a characterization of the robustness of these cages.

Diagnóstico da gestão de resíduos na construção civil comparação de obras no Rio de Janeiro visando a certificação LEED e obras sem certificação.

A implantação de práticas de gestão ambiental nos canteiros de obras se tornou de fundamental importância para o setor da construção civil. Nas obras de edificação que visam obter a certificação LEED, são implementadas práticas que buscam a minimização e o reaproveitamento dos resíduos de construção civil, representando uma possibilidade de redução dos impactos ambientais produzidos pelo setor. Este trabalho apresenta um estudo comparativo sobre a geração de resíduos de quatro obras de edificações no município do Rio de Janeiro, sendo que duas delas implantaram práticas para obtenção da certificação LEED. Complementarmente, foi realizada uma pesquisa através de questionário com profissionais da construção civil buscando identificar a sua percepção sobre construções sustentáveis e gerenciamento de resíduos sólidos. Desconsiderando o solo de escavação, o entulho foi o resíduo mais gerado em todas as quatro obras, seguido pela sucata metálica, resíduos não recicláveis e madeira. A obra com certificação LEED apresentou o menor índice total de resíduos, 119,23 kg/m2, sendo este valor próximo às médias de países desenvolvidos.