Experimental validation of a 3-D vision-based measurement system applied to robot calibration

One of the problems that slows the development of off-line programming is the low static and dynamic positioning accuracy of robots. Robot calibration improves the positioning accuracy and can also be used as a diagnostic tool in robot production and maintenance. A large number of robot measurement systems are now available commercially. Yet, there is a dearth of systems that are portable, accurate and low cost. In this work a measurement system that can fill this gap in local calibration is presented. The measurement system consists of a single CCD camera mounted on the robot tool flange with a wide angle lens, and uses space resection models to measure the end-effector pose relative to a world coordinate system, considering radial distortions. Scale factors and image center are obtained with innovative techniques, making use of a multiview approach. The target plate consists of a grid of white dots impressed on a black photographic paper, and mounted on the sides of a 90-degree angle plate. Results show that the achieved average accuracy varies from 0.2mm to 0.4mm, at distances from the target from 600mm to 1000mm respectively, with different camera orientations.

Experimental study applied to an industrial robot by using variable structure controllers and friction compensation

Control of an industrial robot is mainly a problem of dynamics. It includes non-linearities, uncertainties and external perturbations that should be considered in the design of control laws. In this work, two control strategies based on variable structure controllers (VSC) and a PD control algorithm are compared in relation to the tracking errors considering friction. The controller's performances are evaluated by adding an static friction model. Simulations and experimental results show it is possible to diminish tracking errors by using a model based friction compensation scheme. A SCARA robot is used to illustrate the conclusions of this paper.

Efficacy of herbicides applied to Digitaria horizontalis plants under different water conditions

This project aimed to relate the control efficiency of ACCase inhibiting herbicides applied post-emergence to Digitaria horizontalis plants under different soil water contents. The experiments were conducted in a greenhouse, with the application of three different herbicides (fluazifop-p-butyl, haloxyfop-methyl, and sethoxydim + mineral oil Assist). The experimental design used for each herbicide was completely randomized, with four replications, consisting of a 3 x 4 factorial, with the combination of water management strategies (-0.03, -0.07 and -1.5 MPa) and four doses of these products (100%, 50%, 25%, and 0% of the recommended dose). Herbicide application was made at two vegetative stages, 4-6 leaves and 2-3 tillers. The visual phytotoxicity evaluations were performed at 14 days after application and the plant dry weight at the end of the study was evaluated. The control efficiency was not affected by water management strategies when applied to the recommended dose of the herbicides in early stages of plant development (4-6 leaf stage). In late applications (2-3 tiller stage) the plants held under drought stress showed less phytotoxicity.

Quantitative variables applied to phenological studies of Sargassum vulgare C. Agardh (Phaeophyceae - Fucales) from Ilha Grande Bay, State of Rio de Janeiro

The suitability of quantitative variables for phenological studies was evaluated in a population of the brown seaweed Sargassum vulgare from "Praia das Gordas", Angra dos Reis, Ilha Grande Bay, state of Rio de Janeiro. From June 1998 to May 1999, twenty adult individuals were randomly sampled at bimonthly intervals. Fifteen variables related to the vegetative and reproductive development of perennial and non-perennial parts of the individuals were quantified. Variables related to the non-perennial parts were more useful than those related to the perennial parts, because they showed a clear variation over the year. Vegetative development declined from June to October, and increased from October to February, when maximum median values of thallus height, total dry mass, non-perennial parts dry mass, and degree of branching were reached. This pattern coincided with those described for other species of the genus from warm temperate regions. Thallus height, a usually employed character in other phenological studies of Sargassum, showed lower coefficient of variation (53.2%) than those related to dry mass (72.0% to 182.3%). Peak of reproduction occurred from June to August, according to the following variables: fertile primary lateral branches number and dry mass and receptacles dry mass. Non-perennial parts dry mass and receptacles dry mass are recommended for phenological studies of S. vulgare. This methodological procedure avoids the sampling of the whole individual and warrants its regeneration from the perennial parts.

Challenges in the research and development of new human vaccines

The field of vaccinology was born from the observations by the fathers of vaccination, Edward Jenner and Louis Pasteur, that a permanent, positive change in the way our bodies respond to life-threatening infectious diseases can be obtained by specific challenge with the inactivated infectious agent performed in a controlled manner, avoiding the development of clinical disease upon exposure to the virulent pathogen. Many of the vaccines still in use today were developed on an empirical basis, essentially following the paradigm established by Pasteur, “isolate, inactivate, and inject” the disease-causing microorganism, and are capable of eliciting uniform, long-term immune memory responses that constitute the key to their proven efficacy. However, vaccines for pathogens considered as priority targets of public health concern are still lacking. The literature tends to focus more often on vaccine research problems associated with specific pathogens, but it is increasingly clear that there are common bottlenecks in vaccine research, which need to be solved in order to advance the development of the field as a whole. As part of a group of articles, the objective of the present report is to pinpoint these bottlenecks, exploring the literature for common problems and solutions in vaccine research applied to different situations. Our goal is to stimulate brainstorming among specialists of different fields related to vaccine research and development. Here, we briefly summarize the topics we intend to deal with in this discussion.

Onondaga chert : geological and palynological studies as applied to archaeology /

Cherts from the Middle Devonian Onondaga Formation of the Niagara Peninsula in Southern Ontario and Western New York State can now be distinguished from those of the Early Devonian Bois Blanc Formation of the same area based on differences in petrology, acritarchs, spores, and "Preservation Ratio" values. The finely crystalline, carbonate sediments of the Bois Blanc Formation were deposited under shallow, low energy conditions characterised by the acritarchs Leiofusa bacillum and L. minuta and a high relative abundance of the spore, Apiculiretusispora minor. The medio crystalline and bioclastic carbonate sediments of the Onondaga Formation were deposited under shallow, high energy conditions except for the finely crystalline lagoonal sediments of the Clarence Member which is characterised by the acritarchs Leiofusa navicula, L. sp. B, and L. tomaculata . The author has subdivided and correlated the Clarence Member of the Onondaga Formation using the "Preservation Ratio" values derived from the palynomorphs contained in the cherts. Clarence Member cherts were used by the Archaic people of the Niagara Peninsula for chipped-stone tools. The source area for the chert is considered to be the cobble beach deposits along the north shore of Lake Erie from Port Maitland to Nanticoke

The role of the Ruah YHWH in creative transformation : a process theology perspective applied to Judges 14

La Ruah YHWH joue un rôle important dans la transformation créative de l’univers et des entités actuelles; cependant, une réflexion concernant les modalités de ce rôle reste à développer. La théologie processuelle offre une plateforme à partir de laquelle sont examinées diverses facettes des rôles que peut jouer la Ruah YHWH dans un monde où le chaos semble dominer. L’objectif de ce mémoire est justement d’explorer la Ruah YHWH dans son rôle de transformation créative au service, ultimement de l’ordre, de la paix et de l’harmonie dans le monde, les communautés, la vie des entités actuelles, etc. Le Chapitre 1 passe en revue des notions clés de la théologie processuelle. Le concept des “entités actuelles” est d’abord défini. Sont ensuite examinées les différentes phases du devenir d’une entité actuelle. Finalement, les concepts de “créativité” et de “transformation”, dans une perspective de la Ruah YHWH font l’objet d’observations attentives avant d’aborder « trois natures » de Dieu, à savoir primordiale, conséquente, et superjective. Le Chapitre 2 s’intéresse à la péricope centrale de ce mémoire : Juges 13:24-14:20. Le découpage de la structure de cette péricope est basé sur des critères de critique textuelle et d’analyse syntaxique. La première analyse s’attarde aux difficultés que le texte hébreu présente, alors que la deuxième met l’accent sur l’organisation structurelle des propositions grammaticales des versets. Les deux analyses me permettent ensuite de proposer une traduction du péricope. Le Chapitre 3 se veut une application de ce qui a été élaboré au Chapitre 1 sur la péricope analysée au Chapitre 2. Ce troisième chapitre permet de mettre en pratique une approche processuelle originale développée par Robert David dans son livre Déli_l’ ÉCRITURE. Dans la foulée des chapitres qui le précèdent, le Chapitre 4 propose quelques principes herméneutiques contemporains pouvant éclairer le rôle de la Ruah YHWH dans l’avancée créative du monde : vie, amour, et paix.

Understanding Economic Cycle Effects on Top Executive Compensation: An Analysis Applied to American NYSE Listed Companies.

Rapport de recherche présenté à la Faculté des arts et des sciences en vue de l'obtention du grade de Maîtrise en sciences économiques.

A Theory of Quantitative Inference Applied to a Mechanical Design Compiler

This thesis presents the ideas underlying a computer program that takes as input a schematic of a mechanical or hydraulic power transmission system, plus specifications and a utility function, and returns catalog numbers from predefined catalogs for the optimal selection of components implementing the design. Unlike programs for designing single components or systems, the program provides the designer with a high level "language" in which to compose new designs. It then performs some of the detailed design process. The process of "compilation" is based on a formalization of quantitative inferences about hierarchically organized sets of artifacts and operating conditions. This allows the design compilation without the exhaustive enumeration of alternatives.

Markov chain montecarlo method applied to rounding zeros of compositional data: first approach

As stated in Aitchison (1986), a proper study of relative variation in a compositional data set should be based on logratios, and dealing with logratios excludes dealing with zeros. Nevertheless, it is clear that zero observations might be present in real data sets, either because the corresponding part is completely absent –essential zeros– or because it is below detection limit –rounded zeros. Because the second kind of zeros is usually understood as “a trace too small to measure”, it seems reasonable to replace them by a suitable small value, and this has been the traditional approach. As stated, e.g. by Tauber (1999) and by Martín-Fernández, Barceló-Vidal, and Pawlowsky-Glahn (2000), the principal problem in compositional data analysis is related to rounded zeros. One should be careful to use a replacement strategy that does not seriously distort the general structure of the data. In particular, the covariance structure of the involved parts –and thus the metric properties– should be preserved, as otherwise further analysis on subpopulations could be misleading. Following this point of view, a non-parametric imputation method is introduced in Martín-Fernández, Barceló-Vidal, and Pawlowsky-Glahn (2000). This method is analyzed in depth by Martín-Fernández, Barceló-Vidal, and Pawlowsky-Glahn (2003) where it is shown that the theoretical drawbacks of the additive zero replacement method proposed in Aitchison (1986) can be overcome using a new multiplicative approach on the non-zero parts of a composition. The new approach has reasonable properties from a compositional point of view. In particular, it is “natural” in the sense that it recovers the “true” composition if replacement values are identical to the missing values, and it is coherent with the basic operations on the simplex. This coherence implies that the covariance structure of subcompositions with no zeros is preserved. As a generalization of the multiplicative replacement, in the same paper a substitution method for missing values on compositional data sets is introduced

Acoustic phonetics applied to auditory training and the teaching of speech to the hearing impaired

This paper is a review of acoustic phonetics as applied to auditory training for hearing impaired children.