Dynamic optimization for the trajectory planning of robot manipulators in the presence of obstacles

This paper presents an approach to the solution of moving a robot manipulator with minimum cost along a specified geometric path in the presence of obstacles. The main idea is to express obstacle avoidance in terms of the distances between potentially colliding parts. The optimal traveling time and the minimum mechanical energy of the actuators are considered together to build a multiobjective function. A simple numerical example involving a Cartesian manipulator arm with two-degree-of-freedom is described.

Geometric nonlinear dynamic analysis of plates and shells using eight-node hexahedral finite elements with reduced integration

This work presents a geometric nonlinear dynamic analysis of plates and shells using eight-node hexahedral isoparametric elements. The main features of the present formulation are: (a) the element matrices are obtained using reduced integrations with hourglass control; (b) an explicit Taylor-Galerkin scheme is used to carry out the dynamic analysis, solving the corresponding equations of motion in terms of velocity components; (c) the Truesdell stress rate tensor is used; (d) the vector processor facilities existing in modern supercomputers were used. The results obtained are comparable with previous solutions in terms of accuracy and computational performance.

A frequency-domain pseudo-force method for dynamic structural analysis nonlinear systems and nonproportional damping

A frequency-domain method for nonlinear analysis of structural systems with viscous, hysteretic, nonproportional and frequency-dependent damping is presented. The nonlinear effects and nonproportional damping are considered through pseudo-force terms. The modal coordinates uncoupled equations are iteratively solved. The treatment of initial conditions in the frequency domain which is necessary for the treatment of the uncoupled equations is initially adressed.

Fluid dynamic modelling and simulation of circulating fluidized bed reactors: importance of the interface turbulence transfer

The main objective of this work is to analyze the importance of the gas-solid interface transfer of the kinetic energy of the turbulent motion on the accuracy of prediction of the fluid dynamic of Circulating Fluidized Bed (CFB) reactors. CFB reactors are used in a variety of industrial applications related to combustion, incineration and catalytic cracking. In this work a two-dimensional fluid dynamic model for gas-particle flow has been used to compute the porosity, the pressure, and the velocity fields of both phases in 2-D axisymmetrical cylindrical co-ordinates. The fluid dynamic model is based on the two fluid model approach in which both phases are considered to be continuous and fully interpenetrating. CFB processes are essentially turbulent. The model of effective stress on each phase is that of a Newtonian fluid, where the effective gas viscosity was calculated from the standard k-epsilon turbulence model and the transport coefficients of the particulate phase were calculated from the kinetic theory of granular flow (KTGF). This work shows that the turbulence transfer between the phases is very important for a better representation of the fluid dynamics of CFB reactors, especially for systems with internal recirculation and high gradients of particle concentration. Two systems with different characteristics were analyzed. The results were compared with experimental data available in the literature. The results were obtained by using a computer code developed by the authors. The finite volume method with collocated grid, the hybrid interpolation scheme, the false time step strategy and SIMPLEC (Semi-Implicit Method for Pressure Linked Equations - Consistent) algorithm were used to obtain the numerical solution.

Differentiation of Metabolically Distinct Areas within Head and Neck Region using Dynamic 18F-FDG Positron Emission Tomography Imaging

Positron Emission Tomography (PET) using ¹⁸F-FDG is playing a vital role in the diagnosis and treatment planning of cancer. However, the most widely used radiotracer, ¹⁸F-FDG, is not specific for tumours and can also accumulate in inflammatory lesions as well as normal physiologically active tissues making diagnosis and treatment planning complicated for the physicians. Malignant, inflammatory and normal tissues are known to have different pathways for glucose metabolism which could possibly be evident from different characteristics of the time activity curves from a dynamic PET acquisition protocol. Therefore, we aimed to develop new image analysis methods, for PET scans of the head and neck region, which could differentiate between inflammation, tumour and normal tissues using this functional information within these radiotracer uptake areas. We developed different dynamic features from the time activity curves of voxels in these areas and compared them with the widely used static parameter, SUV, using Gaussian Mixture Model algorithm as well as K-means algorithm in order to assess their effectiveness in discriminating metabolically different areas. Moreover, we also correlated dynamic features with other clinical metrics obtained independently of PET imaging. The results show that some of the developed features can prove to be useful in differentiating tumour tissues from inflammatory regions and some dynamic features also provide positive correlations with clinical metrics. If these proposed methods are further explored then they can prove to be useful in reducing false positive tumour detections and developing real world applications for tumour diagnosis and contouring.

Influence of seed size and ecological factors on the germination and emergence of field bindweed (Convolvulus arvensis)

An understanding of seed germination ecology of weeds can assist in predicting their potential distribution and developing effective management strategies. Influence of environmental factors and seed size on germination and seedling emergence of Convolvulus arvensis (field bindweed) was studied in laboratory and greenhouse conditions. Germination occurred over a wide range of constant temperatures, between 15 and 40 ºC, with optimum germination between 20 and 25 ºC. Time to start germination, time to 50% germination and mean germination time increased while germination percentage and germination index decreased with an increase in temperature from 20 ºC, salinity and osmotic stress. However, germination was tolerant to low salt (25 mM) or osmotic stress (0.2 MPa), but as salinity and osmotic stress increased, germination percentage and germination index decreased. Seeds of C. arvensis placed at soil surface showed maximum emergence and decreased as seeding depth increased. Seeds of C. arvensis germinated over a wide range of pH (4 to 9) but optimum germination occurred at pH 6 to 8. Under highly alkaline and acidic pH, time to start germination, time to 50% germination and mean germination time increased while germination percentage and germination index decreased. Increase in field capacity caused decreased time to start germination, time to 50% germination and mean germination time but increased germination percentage and germination index. Bigger seeds had low time to start germination, time to 50% germination and mean germination time but high germination percentage and germination index. Smaller seeds were more sensitive to environmental factors as compared to larger or medium seeds. It can be concluded that except for pH, all environmental factors and seed sizes adversely affect C. arvensis as regards seed germination or emergence and germination or emergence traits, and larger seeds result in improved stand establishment and faster germination than small seeds, regardless of moisture stress or deeper seeding depth.

Effect of ecological factors on germination of horse purslane (Trianthema portulacastrum)

Trianthema portulacastrum is a very problematic summer crop weed and a complete crop failure has been observed because of this weed at high density. The effect of different ecological factors on germination of T. portulacastrum seeds collected in two different years (2009 and 2005) was studied in laboratory experiments. An increase in temperature from 25 to 35 ºC increased germination percentage of T. portulacastrum from 65 to 85%, after which germination started to decrease, reducing to 71.25% at 45 ºC. Trianthema portulacastrum had maximum germination with distilled water compared with different salt solutions and drought stress levels. Germination was significantly minimum at salinity and drought stress level of 250 mM and -0.8 MPa, respectively. Emergence of T. portulacastrum was maximum (86.25%) at 100% field capacity level but decreased sharply as field capacity decreased thereafter, and minimum emergence (30%) was recorded at field capacity level of 25%. Germination of T. portulacastrum was lowest at pH 5 and any increase in pH resulted in increased germination. A pH range of 8 to 10 had statistically similar germination. Sowing depth of 6 cm reduced the emergence of T. portulacastrum to zero. Reduction in emergence was recorded with depth increase from zero to 5 cm. Maximum emergence was recorded from soil surface (0 cm). An increase in temperature, salinity, drought, sowing depth (up to 4 cm) and a decrease in field capacity increased time to start germination/emergence, time to 50% germination/emergence and mean germination/emergence time but decreased germination/emergence index. Seeds collected during 2009 gave higher germination than old seeds collected in 2005. This information might contribute to development of effective control of T. portulacastrum.

STUDY OF AUTUMN-WINTER WEEDS IN PORTUGAL AND ITS ECOLOGICAL PREFERENCES

ABSTRACTThe conclusion of the dam project located in Alqueva, in Southern Portugal, has resulted in a significant increase of new irrigated areas, since 2006. This has meant that, in recent years, there have been progressive flora changes in farming systems traditionally implemented in the Alentejo region. The present work has analyzed the weed flora in an early stage of these changes, and the impact of environmental factors on the distribution of natural vegetation under Mediterranean climate conditions in the influence area of Alqueva. In 2007, 105 floristic surveys were carried out in autumn-winter crop plots or other soil use, and 264 species were identified. Families with higher expression were: Asteraceae, Poaceae, and Fabaceae. Only three species have been identified in more than half of farms, Avena sterilis, Phalaris minor and Lolium rigidum and they were part of the 15 species that revealed high and very high infestation degrees. Soil texture and extractable phosphorus have been determined as active ecological factors, according to the method of ecological profiles and Mutual Information. Therefore, these factores were those with the greatest influence on the species distribution. L.rigidum distribution showed to be associated with medium soil texture and A.sterilis distribution also showed to be associated with medium and fine soil texture soils, without showing ecological preference by extractable phosphorus. The distribution of P.minorwas not related to the soil texture but showed preference for soils with medium phosphorus content.

Building Dynamic Data Centers for Fast Delivery of New Data and Data Updates

Poster at Open Repositories 2014, Helsinki, Finland, June 9-13, 2014

Ecological distribution of Cyanophyceae in lotic ecosystems of São Paulo State

A hundred seventy two stream reaches from six distinct natural regions (parts of biomes or geological areas) in São Paulo State (Atlantic Rainforest, Cerrado, Hard Water regions, Northwest region, Subtropical Rainforest, and Tropical Rainforest) were searched for the most representative macroscopic Cyanophyceae of phytobenthic communities. Selected ecological parameters were analyzed in each stream segment: conductance, current velocity, oxygen saturation, pH, turbidity, and water temperature. Algal abundance was evaluated as percentage cover. Thirthy four cyanophyte taxa were identified and Phormidium retzii was the most widespread species throughout the State, occurring in all studied regions, except in hard water areas, and was negatively correlated to conductance. The subtropical Rainforest region presented the highest mean species richness per site, whereas the tropical Rainforest region had the highest abundance (percentage cover) of blue-green algae. Correlation tests revealed that conductance was significantly and negatively related to variations in abundance and richness of cyanophyte in streams of São Paulo State. This relationship probably reflects the ability of blue-green algae to grow at medium to low ion content and to take advantage under nutrient stress conditions.

Scheduling dynamic dataflow graphs with model checking

With the shift towards many-core computer architectures, dataflow programming has been proposed as one potential solution for producing software that scales to a varying number of processor cores. Programming for parallel architectures is considered difficult as the current popular programming languages are inherently sequential and introducing parallelism is typically up to the programmer. Dataflow, however, is inherently parallel, describing an application as a directed graph, where nodes represent calculations and edges represent a data dependency in form of a queue. These queues are the only allowed communication between the nodes, making the dependencies between the nodes explicit and thereby also the parallelism. Once a node have the su cient inputs available, the node can, independently of any other node, perform calculations, consume inputs, and produce outputs. Data ow models have existed for several decades and have become popular for describing signal processing applications as the graph representation is a very natural representation within this eld. Digital lters are typically described with boxes and arrows also in textbooks. Data ow is also becoming more interesting in other domains, and in principle, any application working on an information stream ts the dataflow paradigm. Such applications are, among others, network protocols, cryptography, and multimedia applications. As an example, the MPEG group standardized a dataflow language called RVC-CAL to be use within reconfigurable video coding. Describing a video coder as a data ow network instead of with conventional programming languages, makes the coder more readable as it describes how the video dataflows through the different coding tools. While dataflow provides an intuitive representation for many applications, it also introduces some new problems that need to be solved in order for data ow to be more widely used. The explicit parallelism of a dataflow program is descriptive and enables an improved utilization of available processing units, however, the independent nodes also implies that some kind of scheduling is required. The need for efficient scheduling becomes even more evident when the number of nodes is larger than the number of processing units and several nodes are running concurrently on one processor core. There exist several data ow models of computation, with different trade-offs between expressiveness and analyzability. These vary from rather restricted but statically schedulable, with minimal scheduling overhead, to dynamic where each ring requires a ring rule to evaluated. The model used in this work, namely RVC-CAL, is a very expressive language, and in the general case it requires dynamic scheduling, however, the strong encapsulation of dataflow nodes enables analysis and the scheduling overhead can be reduced by using quasi-static, or piecewise static, scheduling techniques. The scheduling problem is concerned with nding the few scheduling decisions that must be run-time, while most decisions are pre-calculated. The result is then an, as small as possible, set of static schedules that are dynamically scheduled. To identify these dynamic decisions and to find the concrete schedules, this thesis shows how quasi-static scheduling can be represented as a model checking problem. This involves identifying the relevant information to generate a minimal but complete model to be used for model checking. The model must describe everything that may affect scheduling of the application while omitting everything else in order to avoid state space explosion. This kind of simplification is necessary to make the state space analysis feasible. For the model checker to nd the actual schedules, a set of scheduling strategies are de ned which are able to produce quasi-static schedulers for a wide range of applications. The results of this work show that actor composition with quasi-static scheduling can be used to transform data ow programs to t many different computer architecture with different type and number of cores. This in turn, enables dataflow to provide a more platform independent representation as one application can be fitted to a specific processor architecture without changing the actual program representation. Instead, the program representation is in the context of design space exploration optimized by the development tools to fit the target platform. This work focuses on representing the dataflow scheduling problem as a model checking problem and is implemented as part of a compiler infrastructure. The thesis also presents experimental results as evidence of the usefulness of the approach.

Modal testing and numerical modeling of the dynamic properties of layered sheet-steel structure

Recently, due to the increasing total construction and transportation cost and difficulties associated with handling massive structural components or assemblies, there has been increasing financial pressure to reduce structural weight. Furthermore, advances in material technology coupled with continuing advances in design tools and techniques have encouraged engineers to vary and combine materials, offering new opportunities to reduce the weight of mechanical structures. These new lower mass systems, however, are more susceptible to inherent imbalances, a weakness that can result in higher shock and harmonic resonances which leads to poor structural dynamic performances. The objective of this thesis is the modeling of layered sheet steel elements, to accurately predict dynamic performance. During the development of the layered sheet steel model, the numerical modeling approach, the Finite Element Analysis and the Experimental Modal Analysis are applied in building a modal model of the layered sheet steel elements. Furthermore, in view of getting a better understanding of the dynamic behavior of layered sheet steel, several binding methods have been studied to understand and demonstrate how a binding method affects the dynamic behavior of layered sheet steel elements when compared to single homogeneous steel plate. Based on the developed layered sheet steel model, the dynamic behavior of a lightweight wheel structure to be used as the structure for the stator of an outer rotor Direct-Drive Permanent Magnet Synchronous Generator designed for high-power wind turbines is studied.

Ecological distribution of stream macroalgae in different spatial scales using taxonomic and morphological groups

We examined the ecological distribution of macroalgal communities in streams using species groups (taxonomic units = algal phyla, and morphological = morphological types) with similar structures and functions instead of the species themselves. The study was conducted from June to July/2007 in two drainage basins located in mid-southern region of Paraná State , Brazil. Evaluations of macroalgal communities took into consideration the following spatial scales: the drainage basin (the Pedras river and Marrecas river basins), shading regime (open and shaded stream segments), mesohabitats (riffles and pools), and microhabitats (sampling units of 0.05m2). A total of 29 taxa (23 subgeneric, one generic, and five vegetative groups) were identified. On these, 12 taxa belong to Chlorophyta, 11 to Cyanobacteria, four to Heterokontophyta, and two to Rhodophyta. The proportions of morphological types were: 24% free filaments, 17.25% mats, tufts, gelatinous colonies, and gelatinous filaments, 7% crusts. In terms of spatial scales, we observed a predominance of Chlorophyta in open stream segments and Cyanobacteria in shaded stream segments, reflecting the loss of competitive advantage of green algae in sites with low energy availability. In the mesohabitats, the morphological types recorded in pools were predominantly poorly adapted to fast currents (free filaments), while those found in riffles (mats, tufts and gelatinous filaments) were highly resistant to fast water flows. As such, the use of species groupings based on algal taxonomy associated with morphological characteristics proved to be useful to understanding the distributions of these organisms in lotic environments.