Effects of Constraint Errors on Parallel Manipulators with Decoupled Motion

From perspective of structure synthesis, certain special geometric constraints, such as joint axes intersecting at one point or perpendicular to each other, are necessary in realizing the end-effector motion of kinematically decoupled parallel manipulators (PMs) along individual motion axes. These requirements are difficult to achieve in the actual system due to assembly errors and manufacturing tolerances. Those errors that violate the geometric constraint requirements are termed “constraint errors”. The constraint errors usually are more troublesome than other manipulator errors because the decoupled motion characteristics of the manipulator may no longer exist and the decoupled kinematic models will be rendered useless due to these constraint errors. Therefore, identification and prevention of these constraint errors in initial design and manufacturing stage are of great significance. In this article, three basic types of constraint errors are identified, and an approach to evaluate the effects of constraint errors on decoupling characteristics of PMs is proposed. This approach is illustrated by a 6-DOF PM with decoupled translation and rotation. The results show that the proposed evaluation method is effective to guide design and assembly.

La recuperación mutua en personas con trastornos psicológicos o diversidad funcional a través de la práctica creativa

En el presente artículo introducimos el concepto de “recuperación mutua” y proponemos las prácticas creativas como herramientas eficientesde recuperación de personas tanto con problemas de salud mental como con algún tipo de diversidad funcional. Frente al concepto clásico de “arte-terapia” nosotros proponemos el concepto de “práctica creativa” como más compatible con el modelo de “recuperación mutua”. Para ello, en primer lugar realizamos un breve repaso crítico a la relación del arte con la locura. Seguidamente, presentamos los conceptos hermanos de “recuperación” y “recuperación mutua” en el marco de lo que se ha venido a denominar las “health humanities”. Para finalizar, describimos dos prácticas creativas que en la actualidad están siendo evaluadas en España en el contexto de un proyecto de investigacióninternacional en recuperación mutua: Los seminarios creativos con personas con trastorno mental grave en el Museo de Arte Contemporáneo de Sevilla y el grupo de teatro con personas con diversidad funcional de la Asociación Síndrome de Down-Sevilla

Teachers’ understandings of reconciliation and inclusion in four troubled societies.

In this article, the authors examine how teachers in four troubled societies – Israel, Cyprus, Northern Ireland and South Africa – understand and implement reconciliation in light of the increasing diversity of these societies. The authors particularly pay attention to a dialogical encounter between reconciliation and inclusion, as they look for ways to contemplate how each might be of mutual benefit in educational theory and practice. In the first part of the article, the authors give an overview of current thinking on reconciliation and its role in education, and suggest that the notion of inclusiveness can enrich it. The context of the research is then provided by looking briefly at the socio-political and educational settings in which the study was conducted, followed by a discussion of the research methodology. The findings from the study are then presented with the main themes identified as arising across the four research locations. These themes concern understandings of reconciliation and inclusion, student diversity, teachers’ challenges, helping students deal with conflict, and teachers’ development. Finally, whilst acknowledging the exploratory nature of these findings, the authors discuss what policy makers, school leaders and teachers might change about policies and practices for reconciliation education in the four settings studied and, by implication, other comparable settings.

An acanthocephalan parasite mediates intraguild predation between invasive and native freshwater amphipods (Crustacea)

1. The balance of predation between closely related invasive and native species can be an important determinant of the success or failure of biological invasions. In Irish freshwaters, the introduced amphipod Gammarus pulex has replaced the native G. duebeni celticus, possibly through differential mutual intraguild predation (IGP). Theoretically, parasitism could mediate such predation and hence the invasion outcome. However, this idea remains poorly studied.

Assessment of fighting ability in animal contests

Selection should favour accurate information gathering regarding the likely costs and benefits of continued conflict. Here we consider how variation in the abilities of contestants to assess resource-holding potential (RHP) influences fights. This has been examined in various game theory models. However, discriminating between assessment strategies has proven difficult and has resulted in confusion. To add clarity, we group existing models into three main types that differ in the information about RHP that contestants are presumed to gather: (1) pure self-assessment, (2) cumulative assessment and (3) mutual assessment. Within this framework we outline methods advocated to discriminate successfully between the three main assessment models. We discuss support for each model, before highlighting a number of conflicting and inconclusive studies, leading us to consider alternative approaches to investigate assessment. Furthermore, we examine support for newly emerging concepts such as 'varying degrees of assessment', 'switching assessment' strategies and the possibility of contestants adopting different assessment strategies within a fight involving distinctive roles. We suggest future studies will benefit by judicious use of a battery of techniques to determine how animals settle contests. Finally, we highlight difficulties with current game theory models, and raise concerns regarding the use of certain behavioural criteria to accept or reject a model, particularly since this may conflict with evidence for a given assessment strategy. Furthermore, the failure of existing models to account for newly emerging concepts points to limitations of their use and leads us to challenge game theoreticians to develop upon them. (C) 2009 The Association for the Study of Animal Behaviour. Published by Elsevier Ltd. All rights reserved.

Information gathering and decision making about resource value in animal contests

Contestants are predicted to adjust the cost of a fight in line with the perceived value of the resource and this provides a way of determining whether the resource has been assessed. An assessment of resource value is predicted to alter an animal's motivational state and we note different methods of measuring that state. We provide a categorical framework in which the degree of resource assessment may be evaluated and also note limitations of various approaches. We place studies in six categories: (1) cases of no assessment, (2) cases of internal state such as hunger influencing apparent value, (3) cases of the contestants differing in assessment ability, (4) cases of mutual and equal assessment of value, (5) cases where opponents differ in resource value and (6) cases of particularly complex assessment abilities that involve a comparison of the value of two resources. We examine the extent to which these studies support game theory predictions and suggest future areas of research. (C) 2008 The Association for the Study of Animal Behaviour. Published by Elsevier Ltd. All rights reserved.

Large body size for winning and large swords for winning quickly in swordtail males, Xiphophorus helleri

Contestants can either assess their own resource-holding potential relative to their opponent (mutual assessment) or rely solely on the assessment of their own fighting ability (self-assessment). To discriminate between these possibilities, we staged dyadic territorial contests between 'size-matched' male swordtails. These contests consist of a combination of ritualized displays and direct fighting. Although size differences were small, winners were larger than losers and smaller fish tended to be winners only when the size difference was negligible. Body size, however, did not influence contest duration and there was no increase in contest duration with mean body size; thus, there is no support for self-assessment in these animals. We also examined the effects of the sword, which comprises a sexually selected extension used in female choice that reduces swimming efficiency but increases acceleration. The length of the sword (adjusted for body size) did not differ between winners and losers; however, losers conceded earlier if the opponent had a large sword for its body size but this decision was independent of the loser's own sword length. Losers thus assessed the swords of winners, which precludes self-assessment; however, because winners appeared not to assess the swords of losers, this does not fully support the idea of mutual assessment. (c) 2008 The Association for the Study of Animal Behaviour. Published by Elsevier Ltd. All rights reserved.

Interactions between invasive and native crustaceans: differential functional responses of intraguild predators towards juvenile hetero-specifics

Intraguild predation (IGP) between invasive and native species can lead to species exclusions or co-existence, dependent on the direction and strength of the interaction. Recently, derivation of 'functional responses' has been identified as a means of comparing the community impacts of invasive and native species. Here, we employ a novel use of this functional response methodology to evaluate any IGP asymmetries between the invasive Ponto-Caspian amphipod Echinogammarus ischnus and the North American native Gammarus fasciatus. The direction and magnitude of intraguild predation of adult males on hetero-specific adult females has previously been shown to reverse across a water conductivity gradient. This partially explains field patterns, but does not predict the co-existence of the two species observed in many habitats and locations. Here, we compared intraguild predation by both species on each other's juveniles in high- and low- conductivity water. G. fasciatus has a higher type II functional response towards E. ischnus juveniles compared to the reciprocal interaction. Conductivity did not influence the predation rate on juveniles of either E. ischnus or G. fasciatus. Thus, the male/female IGP advantage to the native G. fasciatus in low conductivity water is compounded by a juvenile IGP asymmetry, which also counteracts the male/female IGP advantage to E. ischnus in high conductivity waters, helping to explain field patterns of exclusion and co-existence. Thus, complex asymmetries in mutual IGP associated with inherent species differences, environmental modulation, and life-history effects can help us understand and predict the population and community level outcomes of species invasions.

Ionic liquid S-alkylthiouronium salts

The prepn. and characterization of a series of ionic liqs. based on S-alkylthiouronium cations prepd. from thiourea, 1,3-dimethylthiourea, 1,3-diethylthiourea and 1,3-tetramethylthiourea coupled with bis{(trifluoromethane)sulfonyl}imide, bromide, methylsulfate or ethylsulfate anions are reported. All are liqs. at room temp. or solids with m.ps. close to room temp., except for the bromide salts, which have m.ps. below 92 °C. Systematic variation in the N- and S-alkyl substituents demonstrates how the phys. properties of these ionic liqs. can be readily controlled. The mutual miscibility limits of representative examples with octane, dodecane and toluene have been detd. as a function of temp., and the extn. of dibenzothiophene from dodecane as a model for desulfurisation of diesel has been investigated.

Integrating Human Rights? Socio-Economic Rights and Budget Analysis

This article explores an opportunity for mutual learning between the fields of human rights law and economic analysis. Specifically it considers how economic techniques might be used to appraise public expenditure in line with international obligations arising from the International Covenant on Economic, Social and Cultural Rights 1966 (ICESCR). Our argument is that such tools do have the potential to contribute to this aim, but that embedding them within government budget processes through “human rights mainstreaming” may prove problematic in practice. We therefore suggest, as part of a broader strategy which includes judicial enforcement, that mainstreaming initiatives and budget analysis can be useful as complementary tools for the full realisation of all human rights.

Interfacial tensions of imidazolium-based ionic liquids with water and n-alkanes

The interfacial tension of the liquid-liquid phase boundary of several 1,3-dialkyl imidazolium based ionic liquids, namely, 1,3-dimethylimidazolium bis{(trifluoromethyl)sulfonyl}imide [C(1)mim][NTf2], 1-ethyl-3-methylimidazoliurn bis{(trifluoromethyl)sulfonyl}imide [C(2)mim][NTf2], 1-butyl-3-methylimidazolium bis{(trifluoromethyl)sulfonyl}imide [C(4)mim][NTf2], 1-hexyl-3-methylimidazolium bis{(trifluoromethyl)sulfonyl}imide [C(6)mim][NTf2], 1-octyl-3-methylimidazolium bis{(trifluoromethyl)sulfonyl}imide [C(8)mim][NTf2], 1-butyl-3-methylimidazolium trifluoromethylsulfonate [C(4)mim][CF3SO3], and 1-butyl-3-methylimidazolium trifluoroacetate [C(4)mim][CF3COO] with water and with the n-alkanes, n-hexane, n-octane and n-decane, has been measured using the pendant drop method as a function of temperature from 293 to 323 K. The experimental interfacial tension data were correlated using the ionic liquid parachor estimation method and a mutual solubility model. The influence of the cation and anion of ionic liquids and also of alkyl chain length of n-alkanes on interfacial tension is discussed. It has also been demonstrated that the interfacial tension data estimated by the correlation methods are in good agreement with the experimental data. (C) 2010 Elsevier B.V. All rights reserved.

Feature Selection for Pose Invariant Lip Biometrics

For the first time in this paper the authors present results showing the effect of out of plane speaker head pose variation on a lip biometric based speaker verification system. Using appearance DCT based features, they adopt a Mutual Information analysis technique to highlight the class discriminant DCT components most robust to changes in out of plane pose. Experiments are conducted using the initial phase of a new multi view Audio-Visual database designed for research and development of pose-invariant speech and speaker recognition. They show that verification performance can be improved by substituting higher order horizontal DCT components for vertical, particularly in the case of a train/test pose angle mismatch.

The policy context of leaving care services: A case study of Northern Ireland

The transition of foster youth from state care to independent living has received increased research, practice, and policy attention in the United States and in many other countries. Most contributions to this literature have focused on documenting poor outcomes across various dimensions of need in the young people's lives whereas little attention has been given to the policy context in which the responses to those needs are being developed. In this article, we argue that there is a pressing need for better understanding of how the policy context can both promote and impede the development of appropriate services. To illustrate our argument, we use Northern Ireland as a policy case study both because of recent initiatives underway there in regard to youth transitions from state care and because of the heightened political sensibilities associated with it as a society. We draw attention to the socio-political historical context, a number of intersecting social policies, and the place of social work as a key occupation involved in delivering service improvements. We conclude by suggesting that this case study not only highlights the need to address similar aspects of the policy on youth transition frorn state care in the United States but also demonstrates the benefits of reflecting on policy development and implementation elsewhere in the world.

Rethinking Amnesties: Atrocity, Accountability And Impunity In Post-Conflict Societies.

The notion of accountability that is propagated in transitional justice often appears limited to demands for the prosecution and imprisonment of those who have been involved in serious human rights violations. Amnesties, widely understood as the absence of punishment for wrongdoing, are in turn considered by many scholars and activists as an example par excellence of the kind of Faustian pacts which are made in the name of political expediency in transitions from conflict. Drawing from a range of interdisciplinary literature, as well as research completed by the authors in a number of societies with a violent past, this paper uses amnesties as a case-study to argue for a more rounded interrogation of the notion of accountability in transitional justice. The paper charts the various forms of intersecting accountability which both shape and delimit amnesties at key ‘moments’ concerning their remit, introduction and operation. The paper concludes that the legalistic view of amnesties as equating to impunity and retribution as accountability is inaccurate and misleading. It argues that a broader perspective of accountability speaks directly to the capacity for amnesties to play a more constructive role in post conflict justice and peacemaking.