Parallelism in Manipulator Dynamics

This paper addresses the problem of efficiently computing the motor torques required to drive a lower-pair kinematic chain (e.g., a typical manipulator arm in free motion, or a mechanical leg in the swing phase) given the desired trajectory; i.e., the Inverse Dynamics problem. It investigates the high degree of parallelism inherent in the computations, and presents two "mathematically exact" formulations especially suited to high-speed, highly parallel implementations using special-purpose hardware or VLSI devices. In principle, the formulations should permit the calculations to run at a speed bounded only by I/O. The first presented is a parallel version of the recent linear Newton-Euler recursive algorithm. The time cost is also linear in the number of joints, but the real-time coefficients are reduced by almost two orders of magnitude. The second formulation reports a new parallel algorithm which shows that it is possible to improve upon the linear time dependency. The real time required to perform the calculations increases only as the [log2] of the number of joints. Either formulation is susceptible to a systolic pipelined architecture in which complete sets of joint torques emerge at successive intervals of four floating-point operations. Hardware requirements necessary to support the algorithm are considered and found not to be excessive, and a VLSI implementation architecture is suggested. We indicate possible applications to incorporating dynamical considerations into trajectory planning, e.g. it may be possible to build an on-line trajectory optimizer.

Valve surgery in active infective endocarditis: a simple score to predict in-hospital prognosis

Aims Surgery for infective endocarditis (IE) is associated with high mortality. Our objectives were to describe the experience with surgical treatment for IE in Spain, and to identify predictors of in-hospital mortality. Methods Prospective cohort of 1000 consecutive patients with IE. Data were collected in 26 Spanish hospitals. Results Surgery was performed in 437 patients (43.7%). Patients treated with surgery were younger and predominantly male. They presented fewer comorbid conditions and more often had negative blood cultures and heart failure. In-hospital mortality after surgery was lower than in the medical therapy group (24.3 vs 30.7%, p = 0.02). In patients treated with surgery, endocarditis involved a native valve in 267 patients (61.1%), a prosthetic valve in 122 (27.9%), and a pacemaker lead with no clear further valve involvement in 48 (11.0%). The most common aetiologies were Staphylococcus (186, 42.6%), Streptococcus (97, 22.2%), and Enterococcus (49, 11.2%). The main indications for surgery were heart failure and severe valve regurgitation. A risk score for in-hospital mortality was developed using 7 prognostic variables with a similar predictive value (OR between 1.7 and 2.3): PALSUSE: prosthetic valve, age ≥ 70, large intracardiac destruction, Staphylococcus spp, urgent surgery, sex [female], EuroSCORE ≥ 10. In-hospital mortality ranged from 0% in patients with a PALSUSE score of 0 to 45.4% in patients with PALSUSE score > 3. Conclusions The prognosis of IE surgery is highly variable. The PALSUSE score could help to identify patients with higher in-hospital mortality.

Origin of avian genome size and structure in non-avian dinosaurs

Chris L. Organ, Andrew M. Shedlock, Andrew Meade, Mark Pagel and Scott V. Edwards (2007). Origin of avian genome size and structure in non-avian dinosaurs. Nature, 46(7132), 180-184. RAE2008

Vertical transmission efficiency and insecticidal properties of Spodoptera exigua Nucleopolyhedrovirus (SeMNPV) genotypes for their use in biological control

El nucleopoliedrovirus de Spodoptera exigua (SeMNPV) es un patógeno natural de las poblaciones larvarias de S. exigua que constituye la base de un bioinsecticida comercializado en España para el control biológico de esta plaga en pimiento. Recientes estudios han demostrado que la transmisión del virus a la descendencia (transmisión vertical) se da con frecuencia y podría ser una característica deseable para su uso en aplicaciones de campo. En el presente trabajo se discute la conveniencia de utilizar una mezcla de dos genotipos SeAl1 (transmisión vertical) y SeG25 (transmisión horizontal) en determinadas proporciones para mejorar las características que cada uno de ellos presenta por separado y así explotar cada una de las vías de transmisión. La patogenicidad (CL50) del genotipo SeG25, y de cualquiera de las mezclas que contienen un 25, 50 o 75 % del mismo, fue más alta que la del aislado SeAl1. Sin embargo, en términos de virulencia (TMM) y productividad (OBs/larva) no se observaron diferencias significativas entre genotipos ni entre sus mezclas. Además se evaluó la capacidad de producir infecciones encubiertas de cada genotipo y sus mezclas sometiendo larvas de S. exigua a infecciones subletales del virus. Se encontraron transcritos del virus para el gen temprano ie0 mediante RT-PCR en los adultos supervivientes a infecciones provocadas por el genotipo SeG25 y todas las mezclas. También se testaron otros dos genes virales que se expresan de manera temprana y tardía en la infección de baculovirus (DNA-polimerasa y polihedrina) para los que en ningún caso se detectaron transcritos.

The role of investor type in the fee structures of pension plans

The final publication is available at Springer via http://dx.doi.org/10.1007/s10693-015-0230-1

Breaking ranks: the emergence of representative associations in the Irish armed forces 1989-1992

This study contexualises the relationship between the armed forces and the civil authority in Ireland using and revising the theoretical framework advanced by Huntington. It tracks the evolution of the idea of a representive body for soldiers in the late 1980s, to the setting up of statutory associations under the Defence Amendment Act 1990. The study considers Irish soldiers political agitation and their use of peaceful democratic activities to achieve their aims. It highlights the fundamental policy arguments that were made against the idea of representation for the army and positions those arguments in the study of civil-military relations. Utilising unique access to secret Department of Defence files, it reveals in-depth ideological arguments advanced by the military authories in Ireland against independent representation. This thesis provides an academic study of the establishment of PDFORRA. It answers key questions regarding the change in the position of Irish government who were categorically opposed to the idea of representation in the army. It illustrates the involvement of other agencies such as the European Organisation of Military Associations (Euromil) reveals reciprocal support by the Irish associations to other emerging groups in Spain. Accessing as yet unpublished Department of Defence files, study analyses tension between the military authorities and the government. It highlights for the first time the role of enlisted personnel in the shaping of new state structures and successfully dismmisses Huntingtons theoretical contention that enlisted personnel are of no consequence in the study of civil-military relations. It fills a gap in our understanding, identified by Finer, as to how politicisation of soldiers takes place. This thesis brings a new dimension to the discipline of civil-military relations and creates new knowledge that will enhance our understanding of an area not covered previously.

Doctoral programs and academic research: Mathematics education in the Spanish university

We have shown a description of the changes and innovations happened in Spain concerning the research on Mathematics Education during the last 25 years, highlighting specially the fast development of the last 10 years. Neither of these great and striking changes would have taken place if there was not been an evolution within the Spanish society, and particularly, within its educational system. Thanks to this, we have found the appropriate conditions for research development.

Basic components in the scienctific didactical training of the secondary school mathematics teachers

Secondary mathematics teacher training in Spain is currently the subject of a heated revision debate. The speed of social, cultural, scientific and economic changes have left a hundred years old teacher training model well behind. However, academical inertia and professional interests are impeding a real new training of the mathematics teacher as an autonomous mathematical educator. Teachers of Didactic of Mathematics and the Spanish Associations of mathematics teachers have recently been discussing the issue. Their conclusions are included here.

A dynamically reconfigurable automotive control system architecture

This paper proposes a vehicular control system architecture that supports self-configuration. The architecture is based on dynamic mapping of processes and services to resources to meet the challenges of future demanding use-scenarios in which systems must be flexible to exhibit context-aware behaviour and to permit customization. The architecture comprises a number of low-level services that provide the required system functionalities, which include automatic discovery and incorporation of new devices, self-optimisation to best-use the processing, storage and communication resources available, and self-diagnostics. The benefits and challenges of dynamic configuration and the automatic inclusion of users' Consumer Electronic (CE) devices are briefly discussed. The dynamic configuration and control-theoretic technologies used are described in outline and the way in which the demands of highly flexible dynamic configuration and highly robust operation are simultaneously met without compromise, is explained. A number of generic use-cases have been identified, each with several specific use-case scenarios. One generic use-case is described to provide an insight into the extent of the flexible reconfiguration facilitated by the architecture.

Ultra-wideband cognitive interrogator network for indoor location tracking - part 1: system architecture and network performance analysis

We explore the potential application of cognitive interrogator network (CIN) in remote monitoring of mobile subjects in domestic environments, where the ultra-wideband radio frequency identification (UWB-RFID) technique is considered for accurate source localization. We first present the CIN architecture in which the central base station (BS) continuously and intelligently customizes the illumination modes of the distributed transceivers in response to the systempsilas changing knowledge of the channel conditions and subject movements. Subsequently, the analytical results of the locating probability and time-of-arrival (TOA) estimation uncertainty for a large-scale CIN with randomly distributed interrogators are derived based upon the implemented cognitive intelligences. Finally, numerical examples are used to demonstrate the key effects of the proposed cognitions on the system performance

Contribution to the knowledge of the genus "Cladonia" in Macaronesia

Sixteen species of the genus Cladonia are reported from Macaronesia from the Canary Islands. Three species are new to canarian flora and, two of them new to Macaronesia. The chemical variation of the taxa is reported. A phytogeographic distribution of the taxa with data on their habitat and ecology are presented.

Coastal upwelling and downwelling forcing of circulation in a semi-enclosed bay: Ria de Vigo

Semi-enclosed bays in upwelling regions are exposed to forcing related to winds, currents and buoyancy over the shelf. The influence of this external forcing is moderated by factors such as connectivity to the open ocean, shelter by surrounding topography, dimensions of the bay, and freshwater outflows. Such bays, preferred locations for ports, mariculture, marine industry, recreational activities and coastal settlement, present a range of characteristics, understanding of which is necessary to their rational management. Observations in such a semi-enclosed bay, the Ria de Vigo in Spain, are used to characterize the influence of upwelling and downwelling pulses on its circulation. In this location, near the northern limit of the Iberian upwelling system, upwelling events dominate during a short summer season and downwelling events the rest of the year. The ria response to the external forcing is central to nutrient supply and resultant plankton productivity that supports its high level of cultured mussel production. Intensive field studies in September 2006 and June 2007 captured a downwelling event and an upwelling event, respectively. Data from eight current profiler moorings and boat-based MiniBat/ADCP surveys provided an unprecedented quasi-synoptic view of the distribution of water masses and circulation patterns in any ria. In the outer ria, circulation was dominated by the introduction of wind-driven alongshore flow from the external continental shelf through the ria entrances and its interaction with the topography. In the middle ria, circulation was primarily related to the upwelling/downwelling cycle, with a cool, salty and dense lower layer penetrating to the inner ria during upwelling over the shelf. A warmer, lower salinity and less dense surface layer of coastal waters flowed inward during downwelling. Without external forcing, the inner ria responded primarily to tides and buoyancy changes related to land runoff. Under both upwelling and downwelling conditions, the flushing of the ria involved shelf responses to wind pulses. Their persistence for a few days was sufficient to allow waters from the continental shelf to penetrate the innermost ria. Longer term observations supported by numerical modeling are required to confirm the generality of such flushing events in the ria and determine their typical frequency, while comparative studies should explore how these scenarios fit into the range of conditions experienced in other semi-enclosed bays.

New records of interesting xenophytes in the Iberian Peninsula. V

As a continuation of previous research on the naturalization of non-native vascular plants in the Iberian Peninsula new chorological data are presented for 16 xenophytes recorded between 2010 and 2014, mostly in the provinces of Huelva and Barcelona (Spain) and in the Algarve and Estremadura (Portugal). For each taxon details about distribution, habitats occupied, previous records, degree of naturalization, etc. are provided. Lachenalia bulbifera and Cyperus albostriatus are probably reported for the first time in the wild in Europe, as are Gamochaeta filaginea, and Dysphania anthelmintica and Oenothera lindheimeri for Portugal and Spain respectively. Cosmos bipinnatus is cited as a novelty for the Algarve (Portugal). Newly reported or confirmed for the province of Huelva are: Amaranthus hypochondriacus, Epilobium brachycarpum, Nephrolepis cordifolia, Ficus microcarpa, Tamarix parviflora and Tamarix ramosissima, while Atriplex semibaccata, Chloris truncata, and Elymus elongatus subsp. ponticus are new for Barcelona. Finally, Passiflora caerulea is a novelty for both Barcelona and Huelva provinces.

Modelos de desarrollo, unificación y “desterritorialización”.

El presente estudio tiene el objetivo de ofrecer una visión general sobre los Modelos de Desarrollo y Organización Territorial desde la perspectiva de las relaciones entre el medio urbano, “rururbano” y rural, en España. Para ello, tras conocer y valorar los enfoque conceptuales y temáticos, se estudia el crecimiento urbano en nuestro país en las últimas décadas, analizando de manera pormenorizada la importancia que ha cobrado y cobra la aplicación legislativa de leyes, planes y normas, tanto en el propio crecimiento urbano como en la demanda de viviendas en las ciudades españolas y, de igual modo, la vinculación de ambas con el precio de las viviendas, relacionándolo con la problemática de la “rururbanización”, y del medio rural.