A mobile robot with a two-degree-of-freedom suspension for traversing uneven terrain with minimal slip: Modeling, simulation and experiments

It is known in literature that a wheeled mobile robot (WMR) with fixed length axle will slip on an uneven terrain. One way to avoid wheel slip is to use a torus-shaped wheel with lateral tilt capability which allows the distance between the wheel-ground contact points to change even with a fixed length axle. Such an arrangement needs a two degree-of-freedom (DOF) suspension for the vertical and lateral tilting motion of the wheel. In this paper modeling, simulation, design and experimentation with a three-wheeled mobile robot, with torus-shaped wheels and a novel two DOF suspension allowing independent lateral tilt and vertical motion, is presented. The suspension is based on a four-bar mechanism and is called the double four-bar (D4Bar) suspension. Numerical simulations show that the three-wheeled mobile robot can traverse uneven terrain with low wheel slip. Experiments with a prototype three-wheeled mobile robot moving on a constructed uneven terrain along a straight line, a circular arc and a path representing a lane change, also illustrate the low slip capability of the three-wheeled mobile robot with the D4Bar suspension. (C) 2015 Elsevier Ltd. All rights reserved.

Gravitational rescue of minimal gauge mediation

Gravity mediated supersymmetry breaking becomes comparable to gauge mediated supersymmetry breaking contributions when messenger masses are close to the GUT scale. By suitably arranging the gravity contributions, one can modify the soft supersymmetry breaking sector to generate a large stop mixing parameter and a light Higgs mass of 125 GeV. In this kind of hybrid models, however, the nice features of gauge mediation like flavor conservation, etc. are lost. To preserve the nice features, gravitational contributions should become important for lighter messenger masses and should be important only for certain fields. This is possible when the hidden sector contains multiple (at least two) spurions with hierarchical vacuum expectation values. In this case, the gravitational contributions can be organized to be ``just right.'' We present a complete model with two spurion hidden sector where the gravitational contribution is from a warped flavor model in a Randall-Sundrum setting. Along the way, we present simple expressions to handle renormalization group equations when supersymmetry is broken by two different sectors at two different scales.

Analysis of Sample Frames and Subsampling Methods for Reef Fish Surveys

Introduction: The National Oceanic and Atmospheric Administration’s Biogeography Branch has conducted surveys of reef fish in the Caribbean since 1999. Surveys were initially undertaken to identify essential fish habitat, but later were used to characterize and monitor reef fish populations and benthic communities over time. The Branch’s goals are to develop knowledge and products on the distribution and ecology of living marine resources and provide resource managers, scientists and the public with an improved ecosystem basis for making decisions. The Biogeography Branch monitors reef fishes and benthic communities in three study areas: (1) St. John, USVI, (2) Buck Island, St. Croix, USVI, and (3) La Parguera, Puerto Rico. In addition, the Branch has characterized the reef fish and benthic communities in the Flower Garden Banks National Marine Sanctuary, Gray’s Reef National Marine Sanctuary and around the island of Vieques, Puerto Rico. Reef fish data are collected using a stratified random sampling design and stringent measurement protocols. Over time, the sampling design has changed in order to meet different management objectives (i.e. identification of essential fish habitat vs. monitoring), but the designs have always remained: • Probabilistic – to allow inferences to a larger targeted population, • Objective – to satisfy management objectives, and • Stratified – to reduce sampling costs and obtain population estimates for strata. There are two aspects of the sampling design which are now under consideration and are the focus of this report: first, the application of a sample frame, identified as a set of points or grid elements from which a sample is selected; and second, the application of subsampling in a two-stage sampling design. To evaluate these considerations, the pros and cons of implementing a sampling frame and subsampling are discussed. Particular attention is paid to the impacts of each design on accuracy (bias), feasibility and sampling cost (precision). Further, this report presents an analysis of data to determine the optimal number of subsamples to collect if subsampling were used. (PDF contains 19 pages)

Técnicas de Inteligencia Artificial integradas en una aplicación de gestión para una casa rural en JQueryMobile y Protégé Frames.

Este proyecto plantea el reto de realizar una aplicación web para la gestión y control de una casa rural desde dispositivos móviles como smartphones y tabletas, con una interfaz de propietario para gestionar de manera dinámica las diferentes partes de la misma, así como la inclusión de una zona de niños donde se aplicarán tecnologías de Inteligencia Artificial en concreto representación del conocimiento mediante “frames”, donde se permitirá a los usuarios realizar preguntas al sistema para intentar adivinar un árbol que previamente la propietaria de la casa rural habrá establecido. El objetivo no es elaborar un sistema experto, tarea que requeriría muchas más horas que las que corresponden a un proyecto de fin de carrera, sino comprobar la posibilidad de integración de estas herramientas en una aplicación orientada a dispositivos móviles. Se emplearán las funcionalidades de HTML5 para la inclusión de la “zona explorador” donde los niños podrán geo localizar árboles, así como su posterior búsqueda a modo de GPS donde los usuarios podrán ver donde está situado el árbol que desean buscar y su posición actual, la cual se irá actualizando automáticamente.