Two and Three Finger Caging of Polygons and Polyhedra

Multi-finger caging offers a rigorous and robust approach to robot grasping. This thesis provides several novel algorithms for caging polygons and polyhedra in two and three dimensions. Caging refers to a robotic grasp that does not necessarily immobilize an object, but prevents it from escaping to infinity. The first algorithm considers caging a polygon in two dimensions using two point fingers. The second algorithm extends the first to three dimensions. The third algorithm considers caging a convex polygon in two dimensions using three point fingers, and considers robustness of this cage to variations in the relative positions of the fingers.

This thesis describes an algorithm for finding all two-finger cage formations of planar polygonal objects based on a contact-space formulation. It shows that two-finger cages have several useful properties in contact space. First, the critical points of the cage representation in the hand’s configuration space appear as critical points of the inter-finger distance function in contact space. Second, these critical points can be graphically characterized directly on the object’s boundary. Third, contact space admits a natural rectangular decomposition such that all critical points lie on the rectangle boundaries, and the sublevel sets of contact space and free space are topologically equivalent. These properties lead to a caging graph that can be readily constructed in contact space. Starting from a desired immobilizing grasp of a polygonal object, the caging graph is searched for the minimal, intermediate, and maximal caging regions surrounding the immobilizing grasp. An example constructed from real-world data illustrates and validates the method.

A second algorithm is developed for finding caging formations of a 3D polyhedron for two point fingers using a lower dimensional contact-space formulation. Results from the two-dimensional algorithm are extended to three dimension. Critical points of the inter-finger distance function are shown to be identical to the critical points of the cage. A decomposition of contact space into 4D regions having useful properties is demonstrated. A geometric analysis of the critical points of the inter-finger distance function results in a catalog of grasps in which the cages change topology, leading to a simple test to classify critical points. With these properties established, the search algorithm from the two-dimensional case may be applied to the three-dimensional problem. An implemented example demonstrates the method.

This thesis also presents a study of cages of convex polygonal objects using three point fingers. It considers a three-parameter model of the relative position of the fingers, which gives complete generality for three point fingers in the plane. It analyzes robustness of caging grasps to variations in the relative position of the fingers without breaking the cage. Using a simple decomposition of free space around the polygon, we present an algorithm which gives all caging placements of the fingers and a characterization of the robustness of these cages.

Formation of jets by implusive acceleration of a curved free surface

The sudden axial acceleration of a column of liquid bounded at one end by a concave free surface has been found, experimentally, to produce a jet which issues from the free surface with a speed several times that imparted to the column.

Theoretical approximations to such flows, valid for small time, are formulated subject to the assumption that the fluid is inviscid and incompressible. In a special two-dimensional case, it is found that, for vanishingly small time, the velocity at the point on the free surface from which the jet emanates is π/2 times the velocity imparted to the column. The solutions to several problems in two and three dimensions assuming that the initial curvature of the free surface is small, lead to values for this ratio dependent upon the curvature—the initial velocity in the case of axial symmetry exceeding that of the analogous two-dimensional problem by approximately 25%.

Experiments conducted upon the phenomenon give values systematically in excess of those predicted by the theory, although theory and experiment are in qualitative agreement with respect to the displacement of the free surface. It is suggested that the discrepancy is attributable to effects of finite curvature having been imperfectly accounted for in the axially-symmetric analysis.

Photographic materials on pp. 115, 120, and 121 are essential and will not reproduce clearly on Xerox copies. Photographic copies should be ordered.

Genetic engineering of microorganisms: free release into the environment

Genetic engineering now makes possible the insertion of DNA from many organisms into other prokaryotic, eukaryotic and viral hosts. This technology has been used to construct a variety of such genetically engineered microorganisms (GEMs). The possibility of accidental or deliberate release of GEMs into the natural environment has recently raised much public concern. The prospect of deliberate release of these microorganisms has prompted an increased need to understand the processes of survival, expression, transfer and rearrangement of recombinant DNA molecules in microbial communities. The methodology which is being developed to investigate these processes will greatly enhance our ability to study microbial population ecology.

A nonlinear systems model for the control mechanism of free fatty acid-glucose metabolosm in normal humans

A mathematical model is proposed in this thesis for the control mechanism of free fatty acid-glucose metabolism in healthy individuals under resting conditions. The objective is to explain in a consistent manner some clinical laboratory observations such as glucose, insulin and free fatty acid responses to intravenous injection of glucose, insulin, etc. Responses up to only about two hours from the beginning of infusion are considered. The model is an extension of the one for glucose homeostasis proposed by Charette, Kadish and Sridhar (Modeling and Control Aspects of Glucose Homeostasis. Mathematical Biosciences, 1969). It is based upon a systems approach and agrees with the current theories of glucose and free fatty acid metabolism. The description is in terms of ordinary differential equations. Validation of the model is based on clinical laboratory data available at the present time. Finally procedures are suggested for systematically identifying the parameters associated with the free fatty acid portion of the model.

Análise global da estabilidade termodinâmica de misturas: um estudo com o método do conjunto gerador

O cálculo do equilíbrio de fases é um problema de grande importância em processos da engenharia, como, por exemplo, na separação por destilação, em processos de extração e simulação da recuperação terciária de petróleo, entre outros. Mas para resolvê-lo é aconselhável que se estude a priori a estabilidade termodinâmica do sistema, a qual consiste em determinar se uma dada mistura se apresenta em uma ou mais fases. Tal problema pode ser abordado como um problema de otimização, conhecido como a minimização da função distância do plano tangente à energia livre de Gibbs molar, onde modelos termodinâmicos, de natureza não convexa e não linear, são utilizados para descrevê-lo. Esse fato tem motivado um grande interesse em técnicas de otimização robustas e eficientes para a resolução de problemas relacionados com a termodinâmica do equilíbrio de fases. Como tem sido ressaltado na literatura, para proporcionar uma completa predição do equilíbrio de fases, faz-se necessário não apenas a determinação do minimizador global da função objetivo do teste de estabilidade, mas também a obtenção de todos os seus pontos estacionários. Assim, o desenvolvimento de metodologias para essa tarefa desafiadora tem se tornado uma nova área de pesquisa da otimização global aplicada à termodinâmica do equilíbrio, com interesses comuns na engenharia química e na engenharia do petróleo. O foco do presente trabalho é uma nova metodologia para resolver o problema do teste de estabilidade. Para isso, usa-se o chamado método do conjunto gerador para realizar buscas do tipo local em uma rede de pontos previamente gerada por buscas globais efetuadas com uma metaheurística populacional, no caso o método do enxame de partículas.Para se obter mais de um ponto estacionário, minimizam-se funções de mérito polarizadas, cujos pólos são os pontos previamente encontrados. A metodologia proposta foi testada na análise de quatorze misturas polares previamente consideradas na literatura. Os resultados mostraram que o método proposto é robusto e eficiente a ponto de encontrar, além do minimizador global, todos os pontos estacionários apontados previamente na literatura, sendo também capaz de detectar, em duas misturas ternárias estudadas, pontos estacionários não obtidos pelo chamado método de análise intervalar, uma técnica confiável e muito difundida na literatura. A análise do teste de estabilidade pela simples utilização do método do enxame de partículas associado à técnica de polarização mencionada acima, para a obtenção de mais de um ponto estacionário (sem a busca local feita pelo método do conjunto gerador em uma dada rede de pontos), constitui outra metodologia para a resolução do problema de interesse. Essa utilização é uma novidade secundária deste trabalho. Tal metodologia simplificada exibiu também uma grande robustez, sendo capaz de encontrar todos os pontos estacionários pesquisados. No entanto, quando comparada com a abordagem mais geral proposta aqui, observou-se que tal simplificação pode, em alguns casos onde a função de mérito apresenta uma geometria mais complexa, consumir um tempo de máquina relativamente grande, dessa forma é menos eficiente.

Corrections to the paraxial approximation of an arbitrary free-propagation beam

A relatively simple transform from an arbitrary solution of the paraxial wave equation to the corresponding exact solution of the Helmholtz wave equation is derived in the condition that the evanescent waves are ignored and is used to study the corrections to the paraxial approximation of an arbitrary free-propagation beam. Specifically, the general lowest-order correction field is given in a very simple form and is proved to be exactly consistent with the perturbation method developed by Lax et nl. [Phys. Rev. A 11, 1365 (1975)]. Some special examples, such as the lowest-order correction to the paraxial approximation of a fundamental Gaussian beam whose waist plane has a parallel shin from the z = 0 plane, are presented. (C) 1998 Optical Society of America.

Contributions on distance-based algorithms, multi-classifier construction and pairwise classification

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Landscape Genetics for the Empirical Assessment of Resistance Surfaces: The European Pine Marten (Martes martes) as a Target-Species of a Regional Ecological Network

Coherent ecological networks (EN) composed of core areas linked by ecological corridors are being developed worldwide with the goal of promoting landscape connectivity and biodiversity conservation. However, empirical assessment of the performance of EN designs is critical to evaluate the utility of these networks to mitigate effects of habitat loss and fragmentation. Landscape genetics provides a particularly valuable framework to address the question of functional connectivity by providing a direct means to investigate the effects of landscape structure on gene flow. The goals of this study are (1) to evaluate the landscape features that drive gene flow of an EN target species (European pine marten), and (2) evaluate the optimality of a regional EN design in providing connectivity for this species within the Basque Country (North Spain). Using partial Mantel tests in a reciprocal causal modeling framework we competed 59 alternative models, including isolation by distance and the regional EN. Our analysis indicated that the regional EN was among the most supported resistance models for the pine marten, but was not the best supported model. Gene flow of pine marten in northern Spain is facilitated by natural vegetation, and is resisted by anthropogenic landcover types and roads. Our results suggest that the regional EN design being implemented in the Basque Country will effectively facilitate gene flow of forest dwelling species at regional scale.

Changes in social inequalities in disability-free life expectancy in Southern Europe: the case of the Basque Country

Background: Health expectancy is a useful tool to monitor health inequalities. The evidence about the recent changes in social inequalities in healthy expectancy is relatively scarce and inconclusive, and most studies have focused on Anglo-Saxon and central or northern European countries. The objective of this study was to analyse the changes in socioeconomic inequalities in disability-free life expectancy in a Southern European population, the Basque Country, during the first decade of the 21st century. Methods: This was an ecological cross-sectional study of temporal trends on the Basque population in 1999-2003 and 2004-2008. All-cause mortality rate, life expectancy, prevalence of disability and disability free-life expectancy were calculated for each period according to the deprivation level of the area of residence. The slope index of inequality and the relative index of inequality were calculated to summarize and compare the inequalities in the two periods. Results: Disability free-life expectancy decreased as area deprivation increased both in men and in women. The difference between the most extreme groups in 2004-2008 was 6.7 years in men and 3.7 in women. Between 1999-2003 and 2004-2008, socioeconomic inequalities in life expectancy decreased, and inequalities in disability-free expectancy increased in men and decreased in women. Conclusions: This study found important socioeconomic inequalities in health expectancy in the Basque Country. These inequalities increased in men and decreased in women in the first decade of the 21st century, during which the Basque Country saw considerable economic growth.