2,508 research outputs found
Knowledge representation system for assembly using robots
Assembly robots combine the benefits of speed and accuracy with the capability of adaptation to changes in the work environment. However, an impediment to the use of robots is the complexity of the man-machine interface. This interface can be improved by providing a means of using a priori-knowledge and reasoning capabilities for controlling and monitoring the tasks performed by robots. Robots ought to be able to perform complex assembly tasks with the help of only supervisory guidance from human operators. For such supervisory quidance, it is important to express the commands in terms of the effects desired, rather than in terms of the motion the robot must undertake in order to achieve these effects. A suitable knowledge representation can facilitate the conversion of task level descriptions into explicit instructions to the robot. Such a system would use symbolic relationships describing the a priori information about the robot, its environment, and the tasks specified by the operator to generate the commands for the robot
Different approaches to community detection
A precise definition of what constitutes a community in networks has remained
elusive. Consequently, network scientists have compared community detection
algorithms on benchmark networks with a particular form of community structure
and classified them based on the mathematical techniques they employ. However,
this comparison can be misleading because apparent similarities in their
mathematical machinery can disguise different reasons for why we would want to
employ community detection in the first place. Here we provide a focused review
of these different motivations that underpin community detection. This
problem-driven classification is useful in applied network science, where it is
important to select an appropriate algorithm for the given purpose. Moreover,
highlighting the different approaches to community detection also delineates
the many lines of research and points out open directions and avenues for
future research.Comment: 14 pages, 2 figures. Written as a chapter for forthcoming Advances in
network clustering and blockmodeling, and based on an extended version of The
many facets of community detection in complex networks, Appl. Netw. Sci. 2: 4
(2017) by the same author
Tracking 3-D body motion for docking and robot control
An advanced method of tracking three-dimensional motion of bodies has been developed. This system has the potential to dynamically characterize machine and other structural motion, even in the presence of structural flexibility, thus facilitating closed loop structural motion control. The system's operation is based on the concept that the intersection of three planes defines a point. Three rotating planes of laser light, fixed and moving photovoltaic diode targets, and a pipe-lined architecture of analog and digital electronics are used to locate multiple targets whose number is only limited by available computer memory. Data collection rates are a function of the laser scan rotation speed and are currently selectable up to 480 Hz. The tested performance on a preliminary prototype designed for 0.1 in accuracy (for tracking human motion) at a 480 Hz data rate includes a worst case resolution of 0.8 mm (0.03 inches), a repeatability of plus or minus 0.635 mm (plus or minus 0.025 inches), and an absolute accuracy of plus or minus 2.0 mm (plus or minus 0.08 inches) within an eight cubic meter volume with all results applicable at the 95 percent level of confidence along each coordinate region. The full six degrees of freedom of a body can be computed by attaching three or more target detectors to the body of interest
Decreased beta-cell mass in diabetes: significance, mechanisms and therapeutic implications
Increasing evidence indicates that decreased functional beta-cell mass is the hallmark of both Type 1 and Type 2 diabetes. This underlies the absolute or relative insulin insufficiency in both conditions. In this For Debate, we consider the possible mechanisms responsible for beta-cell death and impaired function and their relative contribution to insulin insufficiency in diabetes. Beta-cell apoptosis and impaired proliferation consequent to hyperglycaemia is one pathway that could be operating in all forms of diabetes. Autoimmunity and other routes to beta-cell death are also considered. Recognition of decreased functional beta-cell mass and its overlapping multifactorial aetiology in diabetic states, leads us to propose a unifying classification of diabete
Study of effect of arbuscular mycorrhiza (Glomus intraradices) fungus on wheat under nickel stress
ArticleIn many regions of the world soils are contaminated with heavy metals and therefore
restricted in their use. For instance, the absorption of nickel (Ni) in the tissue
of plants increase
the plant’s metabolism and cause physiological disorders or even death. Arbuscular mycorrhizal
fungi are known to enhance the tolerance of host plants to abiotic and biotic stress. Thus, we
investigated the potential of the arbuscular m
ycorrhizal fungi
Glomus intraradices
to mitigate
deleterious effects of Ni in wheat. The experiment was conducted using four levels of Ni (0, 60,
120 and 180
mg
per
kg of soil) and two levels of mycorrhizal fungi application (with and without
Glomus intrar
adices
). Nickel stress significantly decreased seed number per spike, thousand
-
seed
weight, seed yield per plant, concentration of chlorophyll a and b. At the same time, we found
increased catalase (CAT) enzyme activity and dityrosine (DT) treatments.
Mycorrhizal fungi
application attenuated Ni effects, i.e. fungal presence increased seed number per spike, thousand
-
seed weight, chlorophyll a and b. Furthermore mycorrhizal fungi application reduce CAT enzyme
activity and DT. In general, our results sugge
st that mycorrhizal fungi application reduces harmful
effects of Ni stress in wheat
Discovery of new TeV supernova remnant shells in the Galactic plane with H.E.S.S
Supernova remnants (SNRs) are prime candidates for efficient particle
acceleration up to the knee in the cosmic ray particle spectrum. In this work
we present a new method for a systematic search for new TeV-emitting SNR shells
in 2864 hours of H.E.S.S. phase I data used for the H.E.S.S. Galactic Plane
Survey. This new method, which correctly identifies the known shell
morphologies of the TeV SNRs covered by the survey, HESS J1731-347, RX
1713.7-3946, RCW 86, and Vela Junior, reveals also the existence of three new
SNR candidates. All three candidates were extensively studied regarding their
morphological, spectral, and multi-wavelength (MWL) properties. HESS J1534-571
was associated with the radio SNR candidate G323.7-1.0, and thus is classified
as an SNR. HESS J1912+101 and HESS J1614-518, on the other hand, do not have
radio or X-ray counterparts that would permit to identify them firmly as SNRs,
and therefore they remain SNR candidates, discovered first at TeV energies as
such. Further MWL follow up observations are needed to confirm that these newly
discovered SNR candidates are indeed SNRs
- …