Robust contact force controller for slip prevention in a robotic gripper

Grasping a soft or fragile object requires the use of minimum contact force to prevent damage or deformation. Without precise knowledge of object parameters, real-time feedback control must be used with a suitable slip sensor to regulate the contact force and prevent slip. Furthermore, the controller must be designed to have good performance characteristics to rapidly modulate the fingertip contact force in response to a slip event. In this paper, a fuzzy sliding mode controller combined with a disturbance observer is proposed for contact force control and slip prevention. The controller is based on a system model that is suitable for a wide class of robotic gripper configurations. The robustness of the controller is evaluated through both simulation and experiment. The control scheme was found to be effective and robust to parameter uncertainty. When tested on a real system, however, chattering phenomena, well known to sliding mode research, was induced by the unmodelled suboptimal components of the system (filtering, backlash, and time delays), and the controller performance was reduced

Index

Transgenic APP23 mice were generated to model Alzheimer's disease. The APP23 model develops pathological features, learning deficits, and memory deficits analogous to dementing patients. In this report, transgenic mice exhibited several behavioral disturbances indicating the presence of neuropsychiatric symptoms of dementia. Aiming to verify whether the model also develops other behavioral problems, the authors investigated ingestive behavior in APP23 males of 3, 6 and 12 months. In addition, body weights of a naive male group were longitudinally monitored starting at weaning. Olfactory acuity was evaluated in mice of different age groups. Although olfactory functioning of APP23 mice appeared intact, they drank more and took more food pellets compared with wild-type littermates during a 1-week registration period. From the age of 4.5 weeks onward, APP23 males weighed significantly less than their control littermates, whereas this difference became more prominent with increasing age. Our results suggest the presence of a hypermetabolic state in this model. This is the first report, evidencing the presence of changes in eating and drinking behavior in a single transgenic Alzheimer mouse model.status: publishe

A methodology for design and appraisal of surgical robotic systems

Surgical robotics is a growing discipline, continuously expanding with an influx of new ideas and research. However, it is important that the development of new devices take account of past mistakes and successes. A structured approach is necessary, as with proliferation of such research, there is a danger that these lessons will be obscured, resulting in the repetition of mistakes and wasted effort and energy. There are several research paths for surgical robotics, each with different risks and opportunities and different methodologies to reach a profitable outcome. The main emphasis of this paper is on a methodology for ‘applied research’ in surgical robotics. The methodology sets out a hierarchy of criteria consisting of three tiers, with the most important being the bottom tier and the least being the top tier. It is argued that a robotic system must adhere to these criteria in order to achieve acceptability. Recent commercial systems are reviewed against these criteria, and are found to conform up to at least the bottom and intermediate tiers, the most important first two tiers, and thus gain some acceptability. However, the lack of conformity to the criteria in the top tier, and the inability to conclusively prove increased clinical benefit, is shown to be hampering their potential in gaining wide establishment

Remanence effects in the electrical resistivity of spin glasses

We have measured the low temperature electrical resistivity of Ag : Mn mesoscopic spin glasses prepared by ion implantation with a concentration of 700 ppm. As expected, we observe a clear maximum in the resistivity (T ) at a temperature in good agreement with theoretical predictions. Moreover, we observe remanence effects at very weak magnetic fields for the resistivity below the freezing temperature Tsg: upon Field Cooling (fc), we observe clear deviations of (T ) as compared with the Zero Field Cooling (zfc); such deviations appear even for very small magnetic fields, typically in the Gauss range. This onset of remanence for very weak magnetic fields is reminiscent of the typical signature on magnetic susceptibility measurements of the spin glass transition for this generic glassy system

Giant vortex state in perforated aluminum microsquares

We investigate the nucleation of superconductivity in a uniform perpendicular magnetic field H in aluminum microsquares containing a few (2 and 4) submicron holes (antidots). The normal/superconducting phase boundary T_c(H) of these structures shows a quite different behavior in low and high fields. In the low magnetic field regime fluxoid quantization around each antidot leads to oscillations in T_c(H), expected from the specific sample geometry, and reminiscent of the network behavior. In high magnetic fields, the T_c(H) boundaries of the perforated and a reference non-perforated microsquare reveal cusps at the same values of Phi/Phi_0 (where Phi is the applied flux threading the total square area and Phi_0 is the superconducting flux quantum), while the background on T_c(H) becomes quasi-linear, indicating that a giant vortex state is established. The influence of the actual geometries on T_c(H) is analyzed in the framework of the linearized Ginzburg-Landau theory.Comment: 14 pages, 6 PS figures, RevTex, accepted for publication in Phys. Rev.

Firm preparation for ISO 9001 certification: the case of the hotel industry in Portugal

The purpose of this study is to assess whether companies conduct preparations, such as managing culture, before starting to implement an ISO 9001 Quality Management System (QMS). Based on a literature review, the paper develops a model of firm preparation for ISO 9001 certification and several research hypotheses. The survey research method adopted consists of data collection through questionnaires – sent to hotels of four and five stars, in Portugal, in two different moments (2012 and 2014) – and of a longitudinal data analysis based on non-parametric statistical tests. Results show that the majority of companies conduct preparations before starting to implement an ISO 9001 QMS. However, most companies do not assess their initial situation, nor do they plan for the preparations. One of the significant implications from this research is that a more coherent and integrated approach in ISO 9001 preparation is required. Other implications for practice and for research are also noted. This is the first study, as far as the authors are aware of, that addresses the topic of planning for the preparations that a company can make before starting to implement an ISO 9001 QMS.Fundação para a Ciência e a Tecnologia (grant UID/ECO/04007/2013) e FEDER/COMPETE (POCI-01-0145- FEDER-007659)info:eu-repo/semantics/publishedVersio

Impairment of Adolescent Hippocampal Plasticity in a Mouse Model for Alzheimer's Disease Precedes Disease Phenotype

The amyloid precursor protein (APP) was assumed to be an important neuron-morphoregulatory protein and plays a central role in Alzheimer's disease (AD) pathology. In the study presented here, we analyzed the APP-transgenic mouse model APP23 using 2-dimensional gel electrophoresis technology in combination with DIGE and mass spectrometry. We investigated cortex and hippocampus of transgenic and wildtype mice at 1, 2, 7 and 15 months of age. Furthermore, cortices of 16 days old embryos were analyzed. When comparing the protein patterns of APP23 with wildtype mice, we detected a relatively large number of altered protein spots at all age stages and brain regions examined which largely preceded the occurrence of amyloid plaques. Interestingly, in hippocampus of adolescent, two-month old mice, a considerable peak in the number of protein changes was observed. Moreover, when protein patterns were compared longitudinally between age stages, we found that a large number of proteins were altered in wildtype mice. Those alterations were largely absent in hippocampus of APP23 mice at two months of age although not in other stages compared. Apparently, the large difference in the hippocampal protein patterns between two-month old APP23 and wildtype mice was caused by the absence of distinct developmental changes in the hippocampal proteome of APP23 mice. In summary, the absence of developmental proteome alterations as well as a down-regulation of proteins related to plasticity suggest the disturption of a normally occurring peak of hippocampal plasticity during adolescence in APP23 mice. Our findings are in line with the observation that AD is preceded by a clinically silent period of several years to decades. We also demonstrate that it is of utmost importance to analyze different brain regions and different age stages to obtain information about disease-causing mechanisms

A Functional Misexpression Screen Uncovers a Role for Enabled in Progressive Neurodegeneration

Drosophila is a well-established model to study the molecular basis of neurodegenerative diseases. We carried out a misexpression screen to identify genes involved in neurodegeneration examining locomotor behavior in young and aged flies. We hypothesized that a progressive loss of rhythmic activity could reveal novel genes involved in neurodegenerative mechanisms. One of the interesting candidates showing progressive arrhythmicity has reduced enabled (ena) levels. ena down-regulation gave rise to progressive vacuolization in specific regions of the adult brain. Abnormal staining of pre-synaptic markers such as cystein string protein (CSP) suggest that axonal transport could underlie the neurodegeneration observed in the mutant. Reduced ena levels correlated with increased apoptosis, which could be rescued in the presence of p35, a general Caspase inhibitor. Thus, this mutant recapitulates two important features of human neurodegenerative diseases, i.e., vulnerability of certain neuronal populations and progressive degeneration, offering a unique scenario in which to unravel the specific mechanisms in an easily tractable organism

Management control systems in innovation companies: A literature based framework

Past research has traditionally argued that management control systems (MCSs) may present a hindrance to the creativity of innovation companies. This theoretical paper surveys the literature to focus an investigation on the MCSs of innovation companies. Within the object of control paradigm the paper develops and presents a theoretical model of the impact of eleven external, organisational and innovation related contingency factors on the MCSs in companies that engage in innovation activities. We also suggest measures for further empirical research. By formulating hypotheses on 43 potential interactions the model predicts contradictory influences on two direct control categories, results and action control, but stresses the importance of two indirect categories, personnel and cultural control. More specifically, the high levels of technological complexity and innovation capability in this type of company are expected to be negatively associated with the application of results and action control, whereas personnel and cultural seem to be more appropriate. Furthermore, important sources of finance, venture capital and public funding, are both hypothesised to be positively associated with the application of results, action and personnel control; whereas only public funding is predicted to be positively related to the application of cultural control. The principal contribution of this paper lies in synthesising the literature to provide a model of the impact of a unique set of eleven contingency factors for innovation companies on a broad scope of controls. In addition, the contingency model, if empirically validated, would add value by inferring the particular forms of management control which would be beneficial in innovative company settings. © 2014 Springer-Verlag Berlin Heidelberg

#EEGManyLabs: Investigating the Replicability of Influential EEG Experiments

There is growing awareness across the neuroscience community that the replicability of findings about the relationship between brain activity and cognitive phenomena can be improved by conducting studies with high statistical power that adhere to well-defined and standardised analysis pipelines. Inspired by recent efforts from the psychological sciences, and with the desire to examine some of the foundational findings using electroencephalography (EEG), we have launched #EEGManyLabs, a large-scale international collaborative replication effort. Since its discovery in the early 20th century, EEG has had a profound influence on our understanding of human cognition, but there is limited evidence on the replicability of some of the most highly cited discoveries. After a systematic search and selection process, we have identified 27 of the most influential and continually cited studies in the field. We plan to directly test the replicability of key findings from 20 of these studies in teams of at least three independent laboratories. The design and protocol of each replication effort will be submitted as a Registered Report and peer-reviewed prior to data collection. Prediction markets, open to all EEG researchers, will be used as a forecasting tool to examine which findings the community expects to replicate. This project will update our confidence in some of the most influential EEG findings and generate a large open access database that can be used to inform future research practices. Finally, through this international effort, we hope to create a cultural shift towards inclusive, high-powered multi-laboratory collaborations. © 2021 The Authors