一种基于投影矩阵M的机器人手眼标定线性化方法

提出了一种基于投影矩阵M的机器人手眼标定方法,即将AX=XB转换为MY=M′YB求解形式,避免了矩阵分解.同时,采用矩阵直积运算和矩阵特征向量运算相结合的方法,将传统的非线性问题转换成线性问题,构成了可利用最小二乘法求解运算的解析形式,提高了机器人手眼标定的精度和稳定性.通过实验验证了该方法的可行性.

Detecção, classificação e quantificação automática de variações de tensão de curta duração para aplicação em análise de pós-operação em sistemas de energia elétrica

A análise de ocorrências no sistema de energia elétrica é de fundamento mportância para uma operação segura, e para manter a qualidade da energia elétrica lornecida aos consumidores. As concessionárias do setor de energia elétrica usam equipamentos, chamados registradores de perturbação (RP's), para monitora diagnosticar problemas nos sistemas elétrico e de proteção. As formas de onda normalmente analisadas nos centros de operação das concessionárias, são aquelas geradas por eventos que quase sempre causam a aocrtul je linhas devido a operação dos relés comandados pelos dispositivos de proteção .Contudo, uma grande quantidade de registros armazenados que podem conte informações importantes sobre o comportamento e desempenho do sistema elétricl jeixa de ser analisada. O objetivo desse trabalho é usar os dados disponíveis nos centros de ontrole, operação das concessionárias de energia elétrica obtidos pelos RP's, para classificar e quantificar de forma automática sinais que caracterizem problemas de qualidade da energia, quanto a variações de tensão de curta duração: afundamentos, elevações e interrupções. O método proposto usa a transformada wavelet para obter um vetor característico para as tensões das fases A, B e C, e uma rede neural probabilística para classificação. Os sinais classificados como apresentando variações de curta duração são quantilicados quanto a duração e amplitude, usando-se as propriedades da análise nultiresolução da decomposição do sinal. Esses parâmetros, então, irão formar uma Jase de dados onde procedimentos de análise estatística podem ser usados para gerar relatórios com as características da qualidade da energia. Os resultados obtidos com a metodologia proposta para um sistema real são também apresentados.

Sensor Location Problem for a Multigraph

MSC 2010: 05C50, 15A03, 15A06, 65K05, 90C08, 90C35

C(k)-solvability near the characteristic set for a class of planar complex vector fields of infinite type

This paper deals with semi-global C(k)-solvability of complex vector fields of the form L = partial derivative/partial derivative t + x(r) (a(x) + ib(x))partial derivative/partial derivative x, r >= 1, defined on Omega(epsilon) = (-epsilon, epsilon) x S(1), epsilon > 0, where a and b are C(infinity) real-valued functions in (-epsilon, epsilon). It is shown that the interplay between the order of vanishing of the functions a and b at x = 0 influences the C(k)-solvability at Sigma = {0} x S(1). When r = 1, it is permitted that the functions a and b of L depend on the x and t variables, that is, L = partial derivative/partial derivative t + x(a(x, t) + ib(x, t))partial derivative/partial derivative x, where (x, t) is an element of Omega(epsilon).

Gevrey solvability near the characteristic set for a class of planar complex vector fields of infinite type

We study the Gevrey solvability of a class of complex vector fields, defined on Omega(epsilon) = (-epsilon, epsilon) x S(1), given by L = partial derivative/partial derivative t + (a(x) + ib(x))partial derivative/partial derivative x, b not equivalent to 0, near the characteristic set Sigma = {0} x S(1). We show that the interplay between the order of vanishing of the functions a and b at x = 0 plays a role in the Gevrey solvability. (C) 2008 Elsevier Inc. All rights reserved.

Solvability near the characteristic set for a special class of complex vector fields

This work deals with the solvability near the characteristic set Sigma = {0} x S-1 of operators of the form L = partial derivative/partial derivative t+(x(n) a(x)+ ix(m) b(x))partial derivative/partial derivative x, b not equivalent to 0 and a(0) not equal 0, defined on Omega(epsilon) = (-epsilon, epsilon) x S-1, epsilon > 0, where a and b are real-valued smooth functions in (-epsilon, epsilon) and m >= 2n. It is shown that given f belonging to a subspace of finite codimension of C-infinity (Omega(epsilon)) there is a solution u is an element of L-infinity of the equation Lu = f in a neighborhood of Sigma; moreover, the L-infinity regularity is sharp.

EXTENSIONS OF VECTOR BUNDLES WITH APPLICATION TO NOETHER-LEFSCHETZ THEOREMS

Given a smooth, projective variety Y over an algebraically closed field of characteristic zero, and a smooth, ample hyperplane section X subset of Y, we study the question of when a bundle E on X, extends to a bundle epsilon on a Zariski open set U subset of Y containing X. The main ingredients used are explicit descriptions of various obstruction classes in the deformation theory of bundles, together with Grothendieck-Lefschetz theory. As a consequence, we prove a Noether-Lefschetz theorem for higher rank bundles, which recovers and unifies the Noether-Lefschetz theorems of Joshi and Ravindra-Srinivas.

Some generalizations of commutativity for linear transformations on a finite dimensional vector space

Let L be the algebra of all linear transformations on an n-dimensional vector space V over a field F and let A, B, ƐL. Let A_i+1 = A_iB - BA_i, i = 0, 1, 2,…, with A = A_o. Let f_k (A, B; σ) = A_2K+1 - ^σ1^A2K-1 ^{+ σ}2^A2K-3 -… +(-1)^Kσ_KA₁ where σ = (σ₁, σ₂,…, σ_K), σ_i belong to F and K = k(k-1)/2. Taussky and Wielandt [Proc. Amer. Math. Soc., 13(1962), 732-735] showed that f_n(A, B; σ) = 0 if σ_i is the i^th elementary symmetric function of (β₄- β_s)², 1 ≤ r ˂ s ≤ n, i = 1, 2, …, N, with N = n(n-1)/2, where β₄ are the characteristic roots of B. In this thesis we discuss relations involving f_k(X, Y; σ) where X, Y Ɛ L and 1 ≤ k ˂ n. We show: 1. If F is infinite and if for each X Ɛ L there exists σ so that f_k(A, X; σ) = 0 where 1 ≤ k ˂ n, then A is a scalar transformation. 2. If F is algebraically closed, a necessary and sufficient condition that there exists a basis of V with respect to which the matrices of A and B are both in block upper triangular form, where the blocks on the diagonals are either one- or two-dimensional, is that certain products X₁, X₂…X_r belong to the radical of the algebra generated by A and B over F, where X_i has the form f₂(A, P(A,B); σ), for all polynomials P(x, y). We partially generalize this to the case where the blocks have dimensions ≤ k. 3. If A and B generate L, if the characteristic of F does not divide n and if there exists σ so that f_k(A, B; σ) = 0, for some k with 1 ≤ k ˂ n, then the characteristic roots of B belong to the splitting field of g_k(w; σ) = w^2K+1 - σ₁w^2K-1 + σ₂w^2K-3 - …. +(-1)^K σ_Kw over F. We use this result to prove a theorem involving a generalized form of property L [cf. Motzkin and Taussky, Trans. Amer. Math. Soc., 73(1952), 108-114]. 4. Also we give mild generalizations of results of McCoy [Amer. Math. Soc. Bull., 42(1936), 592-600] and Drazin [Proc. London Math. Soc., 1(1951), 222-231].

Efficient estimation using the characteristic function : theory and applications with high frequency data

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Characterization and classification of tumor lesions using computerized fractal-based texture analysis and support vector machines in digital mammograms

Objective: This paper presents a detailed study of fractal-based methods for texture characterization of mammographic mass lesions and architectural distortion. The purpose of this study is to explore the use of fractal and lacunarity analysis for the characterization and classification of both tumor lesions and normal breast parenchyma in mammography. Materials and methods: We conducted comparative evaluations of five popular fractal dimension estimation methods for the characterization of the texture of mass lesions and architectural distortion. We applied the concept of lacunarity to the description of the spatial distribution of the pixel intensities in mammographic images. These methods were tested with a set of 57 breast masses and 60 normal breast parenchyma (dataset1), and with another set of 19 architectural distortions and 41 normal breast parenchyma (dataset2). Support vector machines (SVM) were used as a pattern classification method for tumor classification. Results: Experimental results showed that the fractal dimension of region of interest (ROIs) depicting mass lesions and architectural distortion was statistically significantly lower than that of normal breast parenchyma for all five methods. Receiver operating characteristic (ROC) analysis showed that fractional Brownian motion (FBM) method generated the highest area under ROC curve (A z = 0.839 for dataset1, 0.828 for dataset2, respectively) among five methods for both datasets. Lacunarity analysis showed that the ROIs depicting mass lesions and architectural distortion had higher lacunarities than those of ROIs depicting normal breast parenchyma. The combination of FBM fractal dimension and lacunarity yielded the highest A z value (0.903 and 0.875, respectively) than those based on single feature alone for both given datasets. The application of the SVM improved the performance of the fractal-based features in differentiating tumor lesions from normal breast parenchyma by generating higher A z value. Conclusion: FBM texture model is the most appropriate model for characterizing mammographic images due to self-affinity assumption of the method being a better approximation. Lacunarity is an effective counterpart measure of the fractal dimension in texture feature extraction in mammographic images. The classification results obtained in this work suggest that the SVM is an effective method with great potential for classification in mammographic image analysis.

Nonexistence of global solutions for a class of complex vector fields on two-torus

The goal of this paper is study the global solvability of a class of complex vector fields of the special form L = partial derivative/partial derivative t + (a + ib)(x)partial derivative/partial derivative x, a, b epsilon C(infinity) (S(1) ; R), defined on two-torus T(2) congruent to R(2)/2 pi Z(2). The kernel of transpose operator L is described and the solvability near the characteristic set is also studied. (c) 2008 Elsevier Inc. All rights reserved.

A study of the scutellum in eight Chagas disease vector species from genus Triatoma (Hemiptera, Reduviidae) using optical and scanning electron microscopy

The aim of this study was to analyze the external morphology of the scutellum through optical microscopy and scanning electron microscopy (SEM) in male specimens of Triatoma costalimai, T. delpontei, T. eratyrusiformis, T. matogrossensis, T. infestans melanosoma, T. sherlocki, T. tibiamaculata, and T. vandae. A total of 30 photographs of the scutellum were made. Magnification varied from 50X to 750X. Regarding depth and forms of the central depression, the heart-shaped form was predominant, with some exceptions, so that this shape appears to be a common characteristic for species of genus Triatoma Laporte, 1832. In T. eratyrusiformis, a kind of sensillum with important taxonomic value was observed. The different sizes and shapes of the designs found on the posterior process of the scutellum were also of important taxonomic interest. The study of the scutellum based on SEM showed valuable characteristics, allowing the use of this structure to aid the diagnosis of triatomine species. Thus, more specimens in subsequent studies and analyses of morphometric parameters should contribute to agreement on phylogenetic aspects in this genus. A Key to eight species of Triatoma based on male scutellar morphology is presented.

Functions and vector fields on C(CPn)-singular manifolds

Let M2n+1 be a C(CPn) -singular manifold. We study functions and vector fields with isolated singularities on M2n+1. A C(CPn) -singular manifold is obtained from a smooth manifold M2n+1 with boundary in the form of a disjoint union of complex projective spaces CPn boolean OR CPn boolean OR ... boolean OR CPn with subsequent capture of a cone over each component of the boundary. Let M2n+1 be a compact C(CPn) -singular manifold with k singular points. The Euler characteristic of M2n+1 is equal to chi(M2n+1) = k(1 - n)/2. Let M2n+1 be a C(CPn)-singular manifold with singular points m(1), ..., m(k). Suppose that, on M2n+1, there exists an almost smooth vector field V (x) with finite number of zeros m(1), ..., m(k), x(1), ..., x(1). Then chi(M2n+1) = Sigma(l)(i=1) ind(x(i)) + Sigma(k)(i=1) ind(m(i)).

The lepidopteran transposon vector, piggyBac, mediates germ-line transformation in the Mediterranean fruit fly

The piggyBac (IFP2) short inverted terminal repeat transposable element from the cabbage looper Trichoplusia ni was tested for gene transfer vector function as part of a bipartite vector–helper system in the Mediterranean fruit fly Ceratitis capitata. A piggyBac vector marked with the medfly white gene was tested with a normally regulated piggyBac transposase helper at two different concentrations in a white eye host strain. Both experiments yielded transformants at an approximate frequency of 3–5%, with a total of six lines isolated having pigmented eyes with various levels of coloration. G1 transformant siblings from each line shared at least one common integration, with several sublines having an additional second integration. For the first transformant line isolated, two integrations were determined to be stable for 15 generations. For five of the lines, a piggyBac-mediated transposition was verified by sequencing the insertion site junctions isolated by inverse PCR that identified a characteristic piggyBac TTAA target site duplication. The efficient and stable transformation of the medfly with a lepidopteran vector represents transposon function over a relatively large evolutionary distance and suggests that the piggyBac system will be functional in a broad range of insects.

The propensity to disrupt and the disruption nucleolus of a characteristic function game

Gately [1974] recently introduced the concept of an individual player's “propensity to disrupt” a payoff vector in a three-person characteristic function game. As a generalisation of this concept we propose the “disruption nucleolus” of ann-person game. The properties and computational possibilities of this concept are analogous to those of the nucleolus itself. Two numerical examples are given.