Performance indices for robotic manipulators: a review of the state of the art

The performance indices are important tools for motion planning and design of robot manipulators. In this paper we present a collection of some of the performance indices that have generated interest in the robotics community. These indices are four different types: kinetostatic performance indices, dynamic performance indices, indices of joint limits, and finally global performance indices. In addition, we review the strategies that have been proposed to solve the problems that occur when the units of the Jacobian matrix elements are not homogeneous. At the end of this paper, we propose a set of global performance indices that can be useful in the design of robot manipulators.

The unstoppable rise of photovoltaic solar energy: PV vs. PV

Photovoltaic (PV) solar energy has been growing during the last decade an explosive rate. Last year (2011) the solar cell production amounted to more than 37 GW. It is the energy technology most installed nowadays. The power generated by the 37 GW is similar to the one generated by about 7 nuclear units of 1 GW each. The solar industry is already a huge industry dominated by Asian countries led by China. It is not anymore a promise. It is just a reality.

Facing the climate change challenges in the mining and mineral industry as providers of a sustainable manufacturing process

A sustainable manufacturing process must rely on an also sustainable raw materials and energy supply. This paper is intended to show the results of the studies developed on sustainable business models for the minerals industry as a fundamental previous part of a sustainable manufacturing process. As it has happened in other economic activities, the mining and minerals industry has come under tremendous pressure to improve its social, developmental, and environmental performance. Mining, refining, and the use and disposal of minerals have in some instances led to significant local environmental and social damage. Nowadays, like in other parts of the corporate world, companies are more routinely expected to perform to ever higher standards of behavior, going well beyond achieving the best rate of return for shareholders. They are also increasingly being asked to be more transparent and subject to third-party audit or review, especially in environmental aspects. In terms of environment, there are three inter-related areas where innovation and new business models can make the biggest difference: carbon, water and biodiversity. The focus in these three areas is for two reasons. First, the industrial and energetic minerals industry has significant footprints in each of these areas. Second, these three areas are where the potential environmental impacts go beyond local stakeholders and communities, and can even have global impacts, like in the case of carbon. So prioritizing efforts in these areas will ultimately be a strategic differentiator as the industry businesses continues to grow. Over the next forty years, world?s population is predicted to rise from 6.300 million to 9.500 million people. This will mean a huge demand of natural resources. Indeed, consumption rates are such that current demand for raw materials will probably soon exceed the planet?s capacity. As awareness of the actual situation grows, the public is demanding goods and services that are even more environmentally sustainable. This means that massive efforts are required to reduce the amount of materials we use, including freshwater, minerals and oil, biodiversity, and marine resources. It?s clear that business as usual is no longer possible. Today, companies face not only the economic fallout of the financial crisis; they face the substantial challenge of transitioning to a low-carbon economy that is constrained by dwindling natural resources easily accessible. Innovative business models offer pioneering companies an early start toward the future. They can signal to consumers how to make sustainable choices and provide reward for both the consumer and the shareholder. Climate change and carbon remain major risk discontinuities that we need to better understand and deal with. In the absence of a global carbon solution, the principal objective of any individual country should be to reduce its global carbon emissions by encouraging conservation. The mineral industry internal response is to continue to focus on reducing the energy intensity of our existing operations through energy efficiency and the progressive introduction of new technology. Planning of the new projects must ensure that their energy footprint is minimal from the start. These actions will increase the long term resilience of the business to uncertain energy and carbon markets. This focus, combined with a strong demand for skills in this strategic area for the future requires an appropriate change in initial and continuing training of engineers and technicians and their awareness of the issue of eco-design. It will also need the development of measurement tools for consistent comparisons between companies and the assessments integration of the carbon footprint of mining equipments and services in a comprehensive impact study on the sustainable development of the Economy.

Medida de la conductividad térmica con el método de la aguja térmica, basado en la fuente lineal de calor transitorio, para su aplicación en los cerramientos de adobes y bloques de tierra comprimida

Existe un creciente interés internacional por el ahorro energético y la sostenibilidad en la edificación con importantes repercusiones en la Arquitectura. La inercia térmica es un parámetro fundamental para poder valorar energéticamente un edificio en condiciones reales. Para ello es necesario cambiar el enfoque tradicional de transmisión de calor en régimen estacionario por otro en régimen dinámico en el que se analizan las ondas térmicas y el flujo de calor oscilante que atraviesan los cerramientos. Los parámetros que definen la inercia térmica son: el espesor, la difusividad y el ciclo térmico. A su vez la difusividad está determinada por la conductividad térmica, la densidad y el calor específico del material. De estos parámetros la conductividad es el más complejo, variable y difícil de medir, especialmente en los cerramientos de tierra debido a su heterogeneidad y complejidad higrotérmica. En general, los métodos de medida de la conductividad o transmitancias en los paramentos presentan inconvenientes a la hora de medir un edificio construido con tierra: dificultades de implementación, el elevado coste o la fiabilidad de los resultados, principalmente. El Método de la Aguja Térmica (MAT) se basa en el principio de la evolución en el tiempo del calor emitido por una fuente lineal al insertarse en el seno de un material. Se ha escogido este método porque resulta práctico, de bajo coste y de fácil aplicación a gran escala pero tiene serios problemas de fiabilidad y exactitud. En esta tesis se desarrolla un método de medida de la conductividad térmica para Piezas de Albañilería de Tierra Cruda en laboratorio basado en el MAT, se mejora su fiabilidad, se analiza su incertidumbre, se compara con otros métodos de referencia y se aplica en adobes, Bloques de Tierra Comprimida y probetas de tierra estabilizada con distintas proporciones de paja. Este método servirá de base a una posterior aplicación in situ. Finalmente se proponen modelos matemáticos para mejorar la exactitud del dispositivo utilizado y para la estimación de la conductividad de cerramientos de tierra en función de su densidad. Con los resultados obtenidos se analizan las posibilidades de amortiguación y retardo de las ondas térmicas y capacidad de almacenaje de energía de los cerramientos en función de su densidad y humedad. There is growing international interest in energy saving and sustainability in buildings with significant impact on Architecture. Thermal inertia is a key parameter to assess energy in buildings in real conditions. This requires changing the traditional approach to heat transfer in steady state by another in dynamic regime which analyzes the thermal waves and oscillating heat flux passing through the external walls. The parameters defining the thermal inertia are: the thickness, the diffusivity and the thermal cycle. In turn, the diffusivity is determined by the thermal conductivity, density and specific heat of the material. Of these parameters, thermal conductivity is the most complex, variable and difficult to measure, especially in earth walls due to their heterogeneity and hygrothermal complexity. In general, the methods of measurement of conductivity and transmittance in walls have drawbacks when measuring a building with earth: implementation difficulties, high cost, or reliability of the results, mainly. The Thermal Needle Procedure (TNP) is based on the principle of evolution in time of heat from a line source when inserted within a material. This method was chosen because it is a practical, low cost and easy to implement on a large scale but has serious problems of reliability and accuracy. This thesis develops a laboratory method for measuring the thermal conductivity of Masonry Units Unfire Earth-based based on TNP, its uncertainty is analyzed, compared to other reference methods and applies in adobes, Compressed Earth Blocks and stabilized soil specimens with different proportions of straw. This method will form the basis of a subsequent application in situ. Finally, mathematical models are proposed to improve the accuracy of the device used, and to estimate the conductivity of earth enclosures depending on its density. With the results obtained earth enclosures are analyzed to estimate their possibilities of delay and buffer of termal waves and energy storage capacity according to their density and moisture.

A critical force constant of the structural phase transition in quartz

Long wavelength optical phonons of quartz were analyzed by a Born-Von Karman model not previously used. It was found that only one force constant associated with the turning of the Si-O bonds has a critical effect on the soft-mode frequency and the α-β transition in quartz. The square of the soft-mode frequency was found to depend linearly on this force constant which has the temperature dependence K(T)= -5.33+225.3x10-4(851-T)2/3 in units of 104 dyn/cm2.

Experimental and numerical investigation of effect of sawn timber dimensions in ultrasonic velocity measurements of Spanish softwoods

Ultrasonic sound velocity measurements with hand-held equipment remain due to their simplicity among the most used methods for non-destructive grading of sawn woods, yet a dedicated normalization effort with respect to strength classes for Spanish species is still required. As part of an ongoing project with the aim of definition of standard testing methods, the effect of the dimensions of commonly tested Scots pine (Pinus sylvestris L.) timbers and equipment testing frequency on ultrasonic velocity were investigated. A dedicated full-wave finite-difference time-domain software allowed simulation of pulse propagation through timbers of representative length and section combinations. Sound velocity measurements vL were performed along the grain with the indirect method at 22 kHz and 45 kHz for grids of measurement points at specific distances. For sample sections larger than the cross-sectional wavelength ?RT, the simulated sound velocity vL converges to vL = (CL/?)0.5. For smaller square sections the sound velocity drops down to vL = (EL/?)0.5, where CL, EL and ? are the stiffness, E-modul and density, respectively. The experiments confirm a linear regression between time of flight and measurement distance even at less than two wavelength menor que2?L distance, the fitted sound speed values increased by 15% between the two tested frequencies.

Measuring skin temperature before, during and after exercise: a comparison of thermocouples and infrared thermography

Measuring skin temperature (TSK) provides important information about the complex thermal control system and could be interesting when carrying out studies about thermoregulation. The most common method to record TSK involves thermocouples at specific locations; however, the use of infrared thermal imaging (IRT) has increased. The two methods use different physical processes to measure TSK, and each has advantages and disadvantages. Therefore, the objective of this study was to compare the mean skin temperature (MTSK) measurements using thermocouples and IRT in three different situations: pre-exercise, exercise and post-exercise. Analysis of the residual scores in Bland-Altman plots showed poor agreement between the MTSK obtained using thermocouples and those using IRT. The averaged error was -0.75 °C during pre-exercise, 1.22 °C during exercise and -1.16 °C during post-exercise, and the reliability between the methods was low in the pre- (ICC = 0.75 [0.12 to 0.93]), during (ICC = 0.49 [-0.80 to 0.85]) and post-exercise (ICC = 0.35 [-1.22 to 0.81] conditions. Thus, there is poor correlation between the values of MTSK measured by thermocouples and IRT pre-exercise, exercise and post-exercise, and low reliability between the two forms of measurement.

Characterization of the Performance of Optical Label-Free Biosensors

The field of optical label free biosensors has become a topic of interest during past years, with devices based on the detection of angular or wavelength shift of optical modes [1]. Common parameters to characterize their performance are the Limit of Detection (LOD, defined as the minimum change of refractive index upon the sensing surface that the device is able to detect, and also BioLOD, which represents the minimum amount of target analyte accurately resolved by the system; with units of concentration (common un its are p pm, ng/ml, or nM). LOD gives a first value to compare different biosensors, and is obtained both theoretically (using photonic calculation tools), and experimentally,covering the sensing area with fluids of different refractive indexes.

Analysis of advanced European nuclear fuel cycle scenarios including transmutation and economic estimates

Four European fuel cycle scenarios involving transmutation options (in coherence with PATEROS and CPESFR EU projects) have been addressed from a point of view of resources utilization and economic estimates. Scenarios include: (i) the current fleet using Light Water Reactor (LWR) technology and open fuel cycle, (ii) full replacement of the initial fleet with Fast Reactors (FR) burning U?Pu MOX fuel, (iii) closed fuel cycle with Minor Actinide (MA) transmutation in a fraction of the FR fleet, and (iv) closed fuel cycle with MA transmutation in dedicated Accelerator Driven Systems (ADS). All scenarios consider an intermediate period of GEN-III+ LWR deployment and they extend for 200 years, looking for long term equilibrium mass flow achievement. The simulations were made using the TR_EVOL code, capable to assess the management of the nuclear mass streams in the scenario as well as economics for the estimation of the levelized cost of electricity (LCOE) and other costs. Results reveal that all scenarios are feasible according to nuclear resources demand (natural and depleted U, and Pu). Additionally, we have found as expected that the FR scenario reduces considerably the Pu inventory in repositories compared to the reference scenario. The elimination of the LWR MA legacy requires a maximum of 55% fraction (i.e., a peak value of 44 FR units) of the FR fleet dedicated to transmutation (MA in MOX fuel, homogeneous transmutation) or an average of 28 units of ADS plants (i.e., a peak value of 51 ADS units). Regarding the economic analysis, the main usefulness of the provided economic results is for relative comparison of scenarios and breakdown of LCOE contributors rather than provision of absolute values, as technological readiness levels are low for most of the advanced fuel cycle stages. The obtained estimations show an increase of LCOE ? averaged over the whole period ? with respect to the reference open cycle scenario of 20% for Pu management scenario and around 35% for both transmutation scenarios. The main contribution to LCOE is the capital costs of new facilities, quantified between 60% and 69% depending on the scenario. An uncertainty analysis is provided around assumed low and high values of processes and technologies.

Unified representation of monitoring information across federated cloud infrastructures

Nowadays one of the issues hindering the potential of federating cloud-based infrastructures to reach much larger scales is their standard management and monitoring. In particular, this is true in cases where these federated infrastructures provide emerging Future Internet and Smart Cities-oriented services, such as the Internet of Things (IoT), that benefit from cloud services. The contribution of this paper is the introduction of a unified monitoring architecture for federated cloud infrastructures accompanied by the adoption of a uniform representation of measurement data. The presented solution is capable of providing multi-domain compatibility, scalability, as well as the ability to analyze large amounts of monitoring data, collected from datacenters and offered through open and standardized APIs. The solution described herein has been deployed and is currently running on a community of 5 infrastructures within the framework of the European Project XIFI, to be extended to 12 more infrastructures.

Identification of an ATP-binding cassette transporter involved in bicarbonate uptake in the cyanobacterium Synechococcus sp. strain PCC 7942

Exposure of cells of cyanobacteria (blue–green algae) grown under high-CO2 conditions to inorganic C-limitation induces transcription of particular genes and expression of high-affinity CO2 and HCO3− transport systems. Among the low-CO2-inducible transcription units of Synechococcus sp. strain PCC 7942 is the cmpABCD operon, encoding an ATP-binding cassette transporter similar to the nitrate/nitrite transporter of the same cyanobacterium. A nitrogen-regulated promoter was used to selectively induce expression of the cmpABCD genes by growth of transgenic cells on nitrate under high CO2 conditions. Measurements of the initial rate of HCO3− uptake after onset of light, and of the steady-state rate of HCO3− uptake in the light, showed that the controlled induction of the cmp genes resulted in selective expression of high-affinity HCO3− transport activity. The forced expression of cmpABCD did not significantly increase the CO2 uptake capabilities of the cells. These findings demonstrated that the cmpABCD genes encode a high-affinity HCO3− transporter. A deletion mutant of cmpAB (M42) retained low CO2-inducible activity of HCO3− transport, indicating the occurrence of HCO3− transporter(s) distinct from the one encoded by cmpABCD. HCO3− uptake by low-CO2-induced M42 cells showed lower affinity for external HCO3− than for wild-type cells under the same conditions, showing that the HCO3− transporter encoded by cmpABCD has the highest affinity for HCO3− among the HCO3− transporters present in the cyanobacterium. This appears to be the first unambiguous identification and description of a primary active HCO3− transporter.

The role of London forces in defining noncentrosymmetric order of high dipole moment–high hyperpolarizability chromophores in electrically poled polymeric thin films

Graphs of second harmonic generation coefficients and electro-optic coefficients (measured by ellipsometry, attenuated total reflection, and two-slit interference modulation) as a function of chromophore number density (chromophore loading) are experimentally observed to exhibit maxima for polymers containing chromophores characterized by large dipole moments and polarizabilities. Modified London theory is used to demonstrated that this behavior can be attributed to the competition of chromophore-applied electric field and chromophore–chromophore electrostatic interactions. The comparison of theoretical and experimental data explains why the promise of exceptional macroscopic second-order optical nonlinearity predicted for organic materials has not been realized and suggests routes for circumventing current limitations to large optical nonlinearity. The results also suggest extensions of measurement and theoretical methods to achieve an improved understanding of intermolecular interactions in condensed phase materials including materials prepared by sequential synthesis and block copolymer methods.

Defects in embryonic hindbrain development and fetal resorption resulting from vitamin A deficiency in the rat are prevented by feeding pharmacological levels of all-trans-retinoic acid

Vitamin A is required for reproduction and normal embryonic development. We have determined that all-trans-retinoic acid (atRA) can support development of the mammalian embryo to parturition in vitamin A-deficient (VAD) rats. At embryonic day (E) 0.5, VAD dams were fed purified diets containing either 12 μg of atRA per g of diet (230 μg per rat per day) or 250 μg of atRA per g of diet (4.5 mg per rat per day) or were fed the purified diet supplemented with a source of retinol (100 units of retinyl palmitate per day). An additional group was fed both 250 μg of atRA per g of diet in combination with retinyl palmitate. Embryonic survival to E12.5 was similar for all groups. However, embryonic development in the group fed 12 μg of atRA per g of diet was grossly abnormal. The most notable defects were in the region of the hindbrain, which included a loss of posterior cranial nerves (IX, X, XI, and XII) and postotic pharyngeal arches as well as the presence of ectopic otic vesicles and a swollen anterior cardinal vein. All embryonic abnormalities at E12.5 were prevented by feeding pharmacological amounts of atRA (250 μg/g diet) or by supplementation with retinyl palmitate. Embryos from VAD dams receiving 12 μg of atRA per g of diet were resorbed by E18.5, whereas those in the group fed 250 μg of atRA per g of diet survived to parturition but died shortly thereafter. Equivalent results were obtained by using commercial grade atRA or atRA that had been purified to eliminate any potential contamination by neutral retinoids, such as retinol. Thus, 250 μg of atRA per g of diet fed to VAD dams (≈4.5 mg per rat per day) can prevent the death of embryos at midgestation and prevents the early embryonic abnormalities that arise when VAD dams are fed insufficient amounts of atRA.

Design of potent and selective human cathepsin K inhibitors that span the active site

Potent and selective active-site-spanning inhibitors have been designed for cathepsin K, a cysteine protease unique to osteoclasts. They act by mechanisms that involve tight binding intermediates, potentially on a hydrolytic pathway. X-ray crystallographic, MS, NMR spectroscopic, and kinetic studies of the mechanisms of inhibition indicate that different intermediates or transition states are being represented that are dependent on the conditions of measurement and the specific groups flanking the carbonyl in the inhibitor. The species observed crystallographically are most consistent with tetrahedral intermediates that may be close approximations of those that occur during substrate hydrolysis. Initial kinetic studies suggest the possibility of irreversible and reversible active-site modification. Representative inhibitors have demonstrated antiresorptive activity both in vitro and in vivo and therefore are promising leads for therapeutic agents for the treatment of osteoporosis. Expansion of these inhibitor concepts can be envisioned for the many other cysteine proteases implicated for therapeutic intervention.

A very limited number of keywords (main patterns) describes all sequences of the human variable heavy (VH) and κ (Vκ) domains

Sequences of the variable heavy (VH) and κ (Vκ) domains of Ig structures were divided into 21 fragments that correspond to strands, loops, or parts of these structural units of the variable domains. Amino acid sequences of fragments (termed “words”) were collected from the 1,172 human heavy and 668 human κ chains available in the Kabat database. Statistical analysis of words of 17 fragments was performed (fragments that comprise the complementary determining regions′ fragments will not be discussed in this paper). The number of different words (those with different residues in at least one position) ranged, for various fragments, from 11 to 75 in the κ chains, and from 23 to 189 in the heavy chains. The main result of this study is that very few keywords, or main patterns of words, were necessary to describe over 90% of the sequences (no more than two keywords per fragment in the κ and no more than five per fragment in the heavy chains). No identical keywords were found for different fragments of the variable domains. Keywords of aligned fragments of the VH and Vκ domains were different in all but two instances. Thus, knowing the keywords, one can determine whether any given small part of a sequence belongs to a heavy or κ chain and predict its precise localization in the sequence. In addition, by using all of the keywords obtained through analysis of the Kabat database, it was possible to describe completely the sequences of the human VH and Vκ germ-line segments.