LaMMos - Latching Mechanism based on Motorized-screw for Reconfigurable Robots and Exoskeleton Suits

Reconfigurable robots refer to a category of robots that their components (individual joints and links) can be assembled in multiple configurations and geometries. Most of existing latching mechanisms are based on physical tools such as hooks, cages or magnets, which limit the payload capacity. Therefore, robots re- quire a latching mechanism which can help to reconfigure itself without sacrificing the payload capability. This paper presents a latching mechanism based on the flexible screw attaching principle. In which, actuators are used to move the robot links and joints while connecting them with a motorized-screw and dis- connecting them by unfastening the screw. The brackets used in our mechanism configuration helps to hold maximum force up to 5000N. The LaMMos - Latching Mechanism based on Motorized- screw has been applied to the DeWaLoP - Developing Water Loss Prevention in-pipe robot. It helps the robot to shrink its body to crawl into the pipe with minimum diameter, by recon- figuring the leg positions. And it helps to recover the legs positions to original status once the robot is inside the pipe. Also, LaMMos add stiffness to the robot legs by dynamically integrate them to the structure. Additionally, we present an application of the LaMMos mechanism to exoskeleton suits, for easing the mo- tors from the joints when carrying heavy weights for long periods of time. This mechanism offers many interesting opportunities for robotics research in terms of functionality, pay- load and size.Comment: 14 pages, 15 figure

Photography-based taxonomy is inadequate, unnecessary, and potentially harmful for biological sciences

The question whether taxonomic descriptions naming new animal species without type specimen(s) deposited in collections should be accepted for publication by scientific journals and allowed by the Code has already been discussed in Zootaxa (Dubois & Nemésio 2007; Donegan 2008, 2009; Nemésio 2009a–b; Dubois 2009; Gentile & Snell 2009; Minelli 2009; Cianferoni & Bartolozzi 2016; Amorim et al. 2016). This question was again raised in a letter supported by 35 signatories published in the journal Nature (Pape et al. 2016) on 15 September 2016. On 25 September 2016, the following rebuttal (strictly limited to 300 words as per the editorial rules of Nature) was submitted to Nature, which on 18 October 2016 refused to publish it. As we think this problem is a very important one for zoological taxonomy, this text is published here exactly as submitted to Nature, followed by the list of the 493 taxonomists and collection-based researchers who signed it in the short time span from 20 September to 6 October 2016

Details of the lingual crown surfaces, showing multicrenulate longitudinal ridges, from <i>Roxochampsa paulistanus</i> comb. nov. specimens.

<p>A- DGM 259-R; B- d12 of UFRJ-DG 451-R; C- d12 of UFRJ-DG 501-R. Each scale bar = 1 mm.</p

<i>Roxochampsa paulistanus</i> comb. nov. UFRJ-DG 451-R, d12 multicrenulate tooth features.

<p>A- detail of the basal region, showing multicrenulated high relief enamel ridges; B- detail of apical region, showing granulated protuberances “scaly-forms”; C- detail of mid-apex region, showing overlapping projections; D- section of distal and crenulated carena. Scale bar for the tooth = 10 mm; in A, C and D scale bars = 1 mm; in B scale bar = 0.1mm.</p

Cross-section of correlation of vertical profile composites of the Bauru Group.

<p>Showing the sequence stratigraphic framework at facies association level of the Bauru Group.</p

Geological map of the Bauru Group, Paraná Basin (modified from [104]).

<p>The outcrops that yielded Itasuchidae specimens is located with the crocodile outlines. A-B and C-D are regional geological sections.</p

New stratigraphic chart of cretaceous of the Paraná Basin.

<p>Proposition of a revised chrono-lithostratigraphy of the Bauru Group.</p

<i>Roxochampsa paulistanus</i> comb. nov. (UFRJ-DG 451-R).

<p>A- lateral view; B- medial view; C- oclusal view; D- anterior view; E- posterior view. Each scale bar = 10 mm. Legend in text.</p

Set up of the micro CT-scan scanning conditions.

<p>Set up of the micro CT-scan scanning conditions.</p

<i>Roxochampsa paulistanus</i> comb. nov. (UFRJ-DG 501-R).

<p>A- lateral view; B- medial view; C- detail, mesio-lingual surface view of tenth hemimandibular tooth; D- detail, lingual surface view of twelfth hemimandibular tooth; E- oclusal view; F- isolate tooth: a- lateral profile; b-lingual view; c- labial view. Each scale bar = 10 mm. Legend in text.</p