Control and optimization of semi-passively actuated multibody systems

The controlled multibody systems are under the consideration. At the lecture special emphasis is put on the study of underactuated and overactuated systems having different type of actuators (external powered drives, unpowered spring-damper like drives, etc.). Several questions are addressed about the role of inherent dynamics, and how much multibody system should be governed by external powered drives and how much by the systems inherent dynamics. The lecture consists of the following parts: introduction to the subject in question; mathematical statement of the optimal control problems that are suitable for modelling of controlled motion and optimization of semi-passively controlled multibody systems with different degrees of actuation; description of the methodology and the numerical algorithms for solution of control and optimization problems for semi-passively actuated multibody systems. The solutions of several optimal control problems for different kind of semi-passively actuated multibody systems are presented. Namely, the energy-optimal control of planar semi-passively controlled three-link manipulator robot, the energy-optimal control of closed-loop chain semi-passively actuated SCARA-like robot; optimization of the hydraulic and pneumatic drives of the multibody system modelled the human locomotor apparatus with above-knee prostheses, and others. Future perspectives in area of control and optimization problems of the semi-passively actuated multibody systems are discussed

Removing the invisibility cloak: Using space design to influence patron behavior and increase service desk usage

In small branch libraries, patrons seeking assistance from library staff outside of the dedicated single-service desk often results in large staffing inefficiencies. This paper presents a case study in which the authors applied behavioral psychology models to a branch library’s space arrangement to identify possible factors influencing patron service point choices. A subsequent full space rearrangement was instituted which utilized human behavior research, service desk design principles, and low-cost methods to create a space that reduced barriers and influenced patrons back to the main service desk. The paper reports on the 11-month study that followed and the impact the rearrangement had on patron behavior. Results indicate that simple rearrangement of existing furniture and equipment into new configurations have direct influence on service desk usage and can encourage new patron behaviors. Space and human behavior are inherently connected and library managers should establish goals for how they envision their spaces to be used and arrange them in ways that encourage wanted behaviors.Ye

Research Perspectives for Logic and Deduction

The article is meant to be kind of the author's manifesto for the role of logic and deduction within Intellectics. Based on a brief analysis of this role the paper presents a number of proposals for future scientic research along the various di-mensions in the space of logical explorations. These dimensions include the range of possible applications including modelling intelligent behavior, the grounding of logic in some semantic context, the choice of an appropriate logic from the great variety of alternatives, then the choice of an appropriate formal system for repre-senting the chosen logic, and nally the issue of developing the most ecient search strategies. Among the proposals is a conjecture concerning the treatment of cuts in proof search. Often a key advance is a matter of applying a small change to a single formula. Ray Kurzweil [Kur05, p.5]

Phylogenetic Analysis of a Spontaneous Cocoa Bean Fermentation Metagenome Reveals New Insights into Its Bacterial and Fungal Community Diversity

This is the first report on the phylogenetic analysis of the community diversity of a single spontaneous cocoa bean box fermentation sample through a metagenomic approach involving 454 pyrosequencing. Several sequence-based and composition-based taxonomic profiling tools were used and evaluated to avoid software-dependent results and their outcome was validated by comparison with previously obtained culture-dependent and culture-independent data. Overall, this approach revealed a wider bacterial (mainly γ-Proteobacteria) and fungal diversity than previously found. Further, the use of a combination of different classification methods, in a software-independent way, helped to understand the actual composition of the microbial ecosystem under study. In addition, bacteriophage-related sequences were found. The bacterial diversity depended partially on the methods used, as composition-based methods predicted a wider diversity than sequence-based methods, and as classification methods based solely on phylogenetic marker genes predicted a more restricted diversity compared with methods that took all reads into account. The metagenomic sequencing analysis identified Hanseniaspora uvarum, Hanseniaspora opuntiae, Saccharomyces cerevisiae, Lactobacillus fermentum, and Acetobacter pasteurianus as the prevailing species. Also, the presence of occasional members of the cocoa bean fermentation process was revealed (such as Erwinia tasmaniensis, Lactobacillus brevis, Lactobacillus casei, Lactobacillus rhamnosus, Lactococcus lactis, Leuconostoc mesenteroides, and Oenococcus oeni). Furthermore, the sequence reads associated with viral communities were of a restricted diversity, dominated by Myoviridae and Siphoviridae, and reflecting Lactobacillus as the dominant host. To conclude, an accurate overview of all members of a cocoa bean fermentation process sample was revealed, indicating the superiority of metagenomic sequencing over previously used techniques