Off-line robot programming framework

Comunicação apresentada na International Conference on Autonomic and Autonomous Systems and International Conference on Networking and Services (ICAS'05 and ICNS'05), Papeete, Tahiti, French Polynesia, 23-28 October 2005.The industrial robot programming is a work for specialist in robotics. Today, this work is very hard because there are many robot manufacturers with different languages and different programming environments. Although, off-line programming is an way that can reduce drastically the machines stop time to maintenance. With the use of object oriented design patterns, it is possible minimize the time spent in robot programming. In this work is proposed a off-line programming environment. This tool is based in one abstract model to program robots, encapsulate in java classes. This way has the main advantage of best source code utilization. Grouping the business classes in modules by functionalities, we can reduce complexity between low matching. Recognized patterns like Facade and Template Method will construct the base to develop this programming framework. The programming robot languages tested in this work was Rapid, Karel and Melfa Basic IV, respectively languages used by ABB, Fanuc and Mitsubishi constructors.Master Industrial Electronic Engineering - Project Supported by the Programme ALBAN, the European Union Programme of High Level Scholarships for Latin America, scholarships no. E04M033540BR. CIMATEC - Technology and Manufactory Integrated Center of SENAI-BA, Brazil

Off-line programming industrial robots based in the information extracted from neutral files generated by the commercial CAD tools

In order for a robotic manipulator to perform useful work, it must be programmed to accomplish the desired task or motion cycle. Nowadays industrial robots generally require a tremendous amount of programming to make them useful. Their controllers are very sophisticated, the commercial robot programming environments are typically closed systems and the programming languages varies from manufacturer to manufacturer. Despite the great evolution of the industrial robots controllers, in the majority of the industrial applications, the robot programming is made, using one of the following ways: • Manual on-line programming; • Off-line programming; Manual on-line programming refers to physically teaching a robot the required trajectory, through interaction with teach pendant or other similar device (Lee & ElMaraghy, 1990). This programming kind presents the following disadvantages: very slow, it needs that the robot is available, difficulty in the handling of equipments, need some practice in the language used by the robot, and technical knowledge to understand the operation of the equipment. These disadvantages are very expensive in the industry because the productive process needs to stop for a long time. One simple approach to solve some disadvantages described above is the Off-line programming environments. These environments are based in graphical simulation platforms, in which the programming and execution process are shown using models of the real objects. Consequently, the robot programmer has to learn only the simulation language and not any of the robot programming languages. Other benefits in off-line programming environments include libraries of pre-defined high-level commands for certain types of applications, such as painting or welding, and the possibility to assess the kinematics feasibility of a move, thus enabling the user to plan collision-free paths. The simulation may also be used to determine the cycle time for a sequence of movements. These environments usually provide a set of primitives commonly used by various robots, and produce a sequence of robot manipulator language primitives such as ”move” or ”open gripper” that are then downloaded in the respective robot controllers. However, the off-line programming tools based in graphically 3D representation presents several problems in many industry applications, particularly, when the robot task or the robot trajectory needs frequent changes, for example: in welding applications where the configuration of the pieces to weld change frequently (the size, the shape, etc.); the robot painting and gluing applications can have similar problems. Nowadays, the CAD tools are often used in the industry to develop and to document the products and its manufacture. There are a lot of commercial CAD tools, like, AutoCAD, SolidWorks, Ideas and Cimatron, having each tool its own file format. However, it is possible to export the information of these pieces, in a neutral file format, namely: STL, IGES, STEP and SET formats. This work presents one solution for programming different robots based in the relevant information extracted from neutral files. The solution implemented was tested in the industrial robots Mitsubishi (Mitsubishi Move Master Industrial Robot) and ABB (model IRB 140 with IRC5 controller). This chapter is organized as follows: section 2 presents an overview about the format of neutral files (STL, IGS, STEP and SET); in the section 3, the algorithms for extraction of the relevant information from the neutral files are described; in the section 4, the developed tool for code generation for different industrial robots is presented; section 5 and 6 present the results and conclusions; section 7 presents future work.European Union Programme of High Level Scholarships for Latin America, Scholarship no. E04M033540BR - Programme ALBAN

First report on Copepoda and Ostracoda (Crustacea) from northern Apenninic springs (N. Italy): a faunal and biogeographical account

The microcrustacean fauna of rheocrene and rheo-limnocrene springs in a protected area of the northern Apennines (Italy) was investigated for the first time. All springs are located in the catchments of the rivers Parma and Enza at altitudes between 800 and 1609 m a.s.l. Several of these springs are still in pristine condition while others are artificially modified or impacted to some degree. Surveys were carried out from April to June 2007. The sampling methods used for invertebrate fauna were: moss washing, artificial traps, and inserting drift tubes at the discharge point. A total of 14 harpacticoid, five cyclopoid, and 13 ostracod taxa were identified. Ostracods were mainly represented by crenophilic taxa; of particular interest was the collection of a specimen belonging to Pseudolimnocythere, a stygobiont genus with only two living species and a reduced distribution. Faunal affinities between northern Apenninic springs and those in other Italian mountain systems are discussed. The investigated ecosystems support a high microcrustacean diversity that must be adequately preserved due to the increasing direct and indirect impacts on mountain springs and groundwater resources

Black swans or dragon kings? A simple test for deviations from the power law

We develop a simple test for deviations from power law tails, which is based on the asymptotic properties of the empirical distribution function. We use this test to answer the question whether great natural disasters, financial crashes or electricity price spikes should be classified as dragon kings or 'only' as black swans

Estimate of a spatially variable reservoir compressibility by assimilation of ground surface displacement data

Abstract. Fluid extraction from producing hydrocarbon reservoirs can cause anthropogenic land subsidence. In this work, a 3-D finite-element (FE) geomechanical model is used to predict the land surface displacements above a gas field where displacement observations are available. An ensemble-based data assimilation (DA) algorithm is implemented that incorporates these observations into the response of the FE geomechanical model, thus re- ducing the uncertainty on the geomechanical parameters of the sedimentary basin embedding the reservoir. The calibration focuses on the uniaxial vertical compressibility c M , which is often the geomechanical parameter to which the model response is most sensitive. The partition of the reservoir into blocks delimited by faults moti- vates the assumption of a heterogeneous spatial distribution of c M within the reservoir. A preliminary synthetic test case is here used to evaluate the effectiveness of the DA algorithm in reducing the parameter uncertainty associated with a heterogeneous c M distribution. A significant improvement in matching the observed data is obtained with respect to the case in which a homogeneous c M is hypothesized. These preliminary results are quite encouraging and call for the application of the procedure to real gas fields

Characterization of potential biomarkers of reactogenicity of licensed antiviral vaccines: randomized controlled clinical trials conducted by the BIOVACSAFE consortium

Funding text The authors are grateful for the vital contributions of the participating study volunteers, clinicians, nurses, and laboratory technicians at the Surrey study site. The work by Roberto Leone, laboratory technician at Humanitas Clinical and Research Center, is gratefully acknowledged. Finally, they thank Ellen Oe (GSK) for scientific writing assistance. The research leading to these results has received support from the Innovative Medicines Initiative Joint Undertaking under grant agreement n°115308, resources of which are composed of financial contribution from the European Union’s Seventh Framework Programme (FP7/2007–2013) and EFPIA companies’ in-kind contribution. The contribution of the European Commission to the Advanced Immunization Technologies (ADITEC) project (grant agreement n° 280873) is also gratefully acknowledged. Publisher Copyright: © 2019, The Author(s).Biomarkers predictive of inflammatory events post-vaccination could accelerate vaccine development. Within the BIOVACSAFE framework, we conducted three identically designed, placebo-controlled inpatient/outpatient clinical studies (NCT01765413/NCT01771354/NCT01771367). Six antiviral vaccination strategies were evaluated to generate training data-sets of pre-/post-vaccination vital signs, blood changes and whole-blood gene transcripts, and to identify putative biomarkers of early inflammation/reactogenicity that could guide the design of subsequent focused confirmatory studies. Healthy adults (N = 123; 20–21/group) received one immunization at Day (D)0. Alum-adjuvanted hepatitis B vaccine elicited vital signs and inflammatory (CRP/innate cells) responses that were similar between primed/naive vaccinees, and low-level gene responses. MF59-adjuvanted trivalent influenza vaccine (ATIV) induced distinct physiological (temperature/heart rate/reactogenicity) response-patterns not seen with non-adjuvanted TIV or with the other vaccines. ATIV also elicited robust early (D1) activation of IFN-related genes (associated with serum IP-10 levels) and innate-cell-related genes, and changes in monocyte/neutrophil/lymphocyte counts, while TIV elicited similar but lower responses. Due to viral replication kinetics, innate gene activation by live yellow-fever or varicella-zoster virus (YFV/VZV) vaccines was more suspended, with early IFN-associated responses in naïve YFV-vaccine recipients but not in primed VZV-vaccine recipients. Inflammatory responses (physiological/serum markers, innate-signaling transcripts) are therefore a function of the vaccine type/composition and presence/absence of immune memory. The data reported here have guided the design of confirmatory Phase IV trials using ATIV to provide tools to identify inflammatory or reactogenicity biomarkers.Peer reviewe

Towards a Conceptualization of Sociomaterial Entanglement

In knowledge representation, socio-technical systems can be modeled as multiagent systems in which the local knowledge of each individual agent can be seen as a context. In this paper we propose formal ontologies as a means to describe the assumptions driving the construction of contexts as local theories and to enable interoperability among them. In particular, we present two alternative conceptualizations of the notion of sociomateriality (and entanglement), which is central in the recent debates on socio-technical systems in the social sciences, namely critical and agential realism. We thus start by providing a model of entanglement according to the critical realist view, representing it as a property of objects that are essentially dependent on different modules of an already given ontology. We refine then our treatment by proposing a taxonomy of sociomaterial entanglements that distinguishes between ontological and epistemological entanglement. In the final section, we discuss the second perspective, which is more challenging form the point of view of knowledge representation, and we show that the very distinction of information into modules can be at least in principle built out of the assumption of an entangled reality

Spatial and seasonal distribution of invertebrates in Northern Apennine rheocrene springs

Four perennial rheocrene springs located between 919 and 1252 m a.s.l. on substrata characterized by different lithologies were studied. Water samples and invertebrates were collected seasonally for one year. The crenic fauna was collected using three sampling techniques: moss washing, drift tubes and benthic traps. Each sampling technique was particularly efficient for collecting specific taxa typical of the different habitats (crenophilous crustaceans and crenoxenic benthic insects were dominant in benthic traps and moss; crenophilic, stygophilic and stygobiotic crustaceans in drift tubes). A total of 3,284 invertebrates belonging to 54 taxa were collected. Ostracoda, Harpacticoida, and Diptera were the most abundant taxa. Species assemblages collected at each spring, in each season, in traps and mosses, differed among springs, and, based on invertebrate assemblages, the ordination of the investigated springs did not correspond to that based on environmental parameters. Of the environmental variables only pH and temperature explained the diversity pattern. Assemblages collected from different habitats also differed: benthic traps collected mainly Chironomidae, Ostracoda, other Diptera, crenophilous Harpacticoida, and Gastropoda; in moss assemblages, the fauna was mostly represented by crenophilic Harpacticoida, Ostracoda, Plecoptera, Chironomidae. Finally, the groundwater assemblages, collected with drift tubes, were dominated by crenophilous Harpacticoida, Chironomidae and Plecoptera. Variation in number of taxa over time was observed in traps and moss samples, whereas drift tubes showed no seasonality. Meiofauna (i.e., permanent meiofauna, represented by Nematoda, Copepoda, Ostracoda, and Hydrachnidia, and temporary meiofauna, represented by early instars of insect larvae) dominated all habitats, probably because of constant flow and favourable habitats such as moss. The presence of mosses was a factor that increased the species diversity of the investigated springs; drift tubes allowed most of the stygobiotic taxa to be collected, although this technique did not necessarily increase the total number of taxa collected. In addition to the array of habitats, other factors, such as geology, might influence the structure of invertebrate communities. The diversity of the investigated springs was strictly dependent on the presence of different microhabitats and local environmental conditions

Pandemic H1N1 Influenza A Viruses Are Resistant to the Antiviral Activities of Innate Immune Proteins of the Collectin and Pentraxin Superfamilies

Abstract Acquired immune responses elicited to recent strains of seasonal H1N1 influenza viruses provide limited protection against emerging A(H1N1) pandemic viruses. Accordingly, pre-existing or rapidly induced innate immune defenses are of critical importance in limiting early infection. Respiratory secretions contain proteins of the innate immune system, including members of the collectin and pentraxin superfamilies. These mediate potent antiviral activity and act as an initial barrier to influenza infection. In this study, we have examined the sensitivity of H1N1 viruses, including pandemic virus strains, for their sensitivity to collectins (surfactant protein [SP]-D and mannose-binding lectin [MBL]) and to the pentraxin PTX3. Human SP-D and MBL inhibited virus-induced hemagglutinating activity, blocked the enzymatic activity of the viral neuraminidase, and neutralized the ability of H1N1 viruses to infect human respiratory epithelial cells in a manner that correlated with the degree of glycosylation in the globular head of the hemagglutinin. Recent seasonal H1N1 viruses expressed three to four N-glycosylation sequons on the head of hemagglutinin and were very sensitive to inhibition by SP-D or MBL, whereas A(H1N1) pandemic viruses expressed a single N-glycosylation sequon and were resistant to either collectin. Of interest, both seasonal and pandemic H1N1 viruses were resistant to PTX3. Thus, unlike recent seasonal H1N1 strains of influenza virus, A(H1N1) pandemic viruses are resistant to the antiviral activities of innate immune proteins of the collectin superfamily

Biophysical and Stabilization Studies of the Chlamydia trachomatis Mouse Pneumonitis Major Outer Membrane Protein

Native Chlamydia trachomatis mouse pneumonitis major outer membrane protein (nMOMP) induces effective protection against genital infection in a mouse challenge model. The conformation of nMOMP is crucial to confer this protective immunity. To achieve a better understanding of the conformational behavior and stability of nMOMP, a number of spectroscopic techniques are employed to characterize the secondary structure (circular dichroism), tertiary structure (intrinsic fluorescence) and aggregation properties (static light scattering and optical density) as a function of pH (3-8) and temperature (10-87.5°C). The data are summarized in an empirical phase diagram (EPD) which demonstrates that the thermal stability of nMOMP is strongly pH-dependent. Three distinctive regions are seen in the EPD. Below the major thermal transition regions, nMOMP remains in its native conformation over the pH range of 3-8. Above the thermal transitions, nMOMP appears in two different structurally altered states; one at pH 3-5 and the other at pH 6-8. The EPD shows that the highest thermal transition point (~ 65°C) of nMOMP is near pH 6. Several potential excipients such as arginine, sodium citrate, Brij 35, sucrose and guanidine are also selected to evaluate their effects on the stability of nMOMP. These particular compounds increase the aggregation onset temperature of nMOMP by more than 10°C, without affecting its secondary and tertiary structure. These results should help formulate a vaccine using a recombinant MOMP