Open-loop position control in collaborative, modular Variable-Stiffness-Link (VSL) robots

— Collaborative robots (cobots) open up new avenues in the fields of industrial robotics and physical Human-Robot Interaction (pHRI) as they are suitable to work in close approximation and in collaboration with humans. The integration and control of variable stiffness elements allow inherently safe interaction. Apart from notable work on Variable Stiffness Actuators, the concept of Variable-Stiffness-Link (VSL) manipulators promises safety improvements in cases of unintentional physical collisions. However, position control of these type of robotic manipulators is challenging for critical task-oriented motions (e.g., pick and place). Hence, the study of open-loop position control for VSL robots is crucial to achieve high levels of safety, accuracy and hardware cost-efficiency in pHRI applications. In this paper, we propose a hybrid, learning based kinematic modelling approach to improve the performance of traditional open-loop position controllers for a modular, collaborative VSL robot. We show that our approach improves the performance of traditional open-loop position controllers for robots with VSL and compensates for position errors, in particular, for lower stiffness values inside the links: Using our upgraded and modular robot, two experiments have been carried out to evaluate the behaviour of the robot during taskoriented motions. Results show that traditional model-based kinematics are not able to accurately control the position of the end-effector: the position error increases with higher loads and lower pressures inside the VSLs. On the other hand, we demonstrate that, using our approach, the VSL robot can outperform the position control compared to a robotic manipulator with 3D printed rigid links

The PREDICTS database: A global database of how local terrestrial biodiversity responds to human impacts

© 2014 The Authors. Ecology and Evolution published by John Wiley & Sons Ltd. Biodiversity continues to decline in the face of increasing anthropogenic pressures such as habitat destruction, exploitation, pollution and introduction of alien species. Existing global databases of species' threat status or population time series are dominated by charismatic species. The collation of datasets with broad taxonomic and biogeographic extents, and that support computation of a range of biodiversity indicators, is necessary to enable better understanding of historical declines and to project - and avert - future declines. We describe and assess a new database of more than 1.6 million samples from 78 countries representing over 28,000 species, collated from existing spatial comparisons of local-scale biodiversity exposed to different intensities and types of anthropogenic pressures, from terrestrial sites around the world. The database contains measurements taken in 208 (of 814) ecoregions, 13 (of 14) biomes, 25 (of 35) biodiversity hotspots and 16 (of 17) megadiverse countries. The database contains more than 1% of the total number of all species described, and more than 1% of the described species within many taxonomic groups - including flowering plants, gymnosperms, birds, mammals, reptiles, amphibians, beetles, lepidopterans and hymenopterans. The dataset, which is still being added to, is therefore already considerably larger and more representative than those used by previous quantitative models of biodiversity trends and responses. The database is being assembled as part of the PREDICTS project (Projecting Responses of Ecological Diversity In Changing Terrestrial Systems - www.predicts.org.uk). We make site-level summary data available alongside this article. The full database will be publicly available in 2015. The collation of biodiversity datasets with broad taxonomic and biogeographic extents is necessary to understand historical declines and to project - and hopefully avert - future declines. We describe a newly collated database of more than 1.6 million biodiversity measurements from 78 countries representing over 28,000 species, collated from existing spatial comparisons of local-scale biodiversity exposed to different intensities and types of anthropogenic pressures, from terrestrial sites around the world

Localization and broadband follow-up of the gravitational-wave transient GW150914

A gravitational-wave transient was identified in data recorded by the Advanced LIGO detectors on 2015 September 14. The event candidate, initially designated G184098 and later given the name GW150914, is described in detail elsewhere. By prior arrangement, preliminary estimates of the time, significance, and sky location of the event were shared with 63 teams of observers covering radio, optical, near-infrared, X-ray, and gamma-ray wavelengths with ground- and space-based facilities. In this Letter we describe the low-latency analysis of the gravitational wave data and present the sky localization of the first observed compact binary merger. We summarize the follow-up observations reported by 25 teams via private Gamma-ray Coordinates Network Circulars, giving an overview of the participating facilities, the gravitational wave sky localization coverage, the timeline and depth of the observations. As this event turned out to be a binary black hole merger, there is little expectation of a detectable electromagnetic signature. Nevertheless, this first broadband campaign to search for a counterpart of an Advanced LIGO source represents a milestone and highlights the broad capabilities of the transient astronomy community and the observing strategies that have been developed to pursue neutron star binary merger events. Detailed investigations of the electromagnetic data and results of the electromagnetic follow-up campaign will be disseminated in the papers of the individual teams

Amino acids composition and protein quality evaluation of marine species and meals for feed formulations in cephalopods

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Book 7 of Ibn al-Nafīs’s commentary on the Hippocratic Aphorisms

The interest in plant virus evolution can be dated to the late 1920s, when it was shown that plant virus populations were genetically heterogeneous, and that Ihcir composition changed according to the experimental conditions. Many important ideas were generated prior to the era of molecular virology, such as the role of hostand vector-associated selection in virus evolution, and also that small populations, gene coadaptation and evolutionary trade-offs could limit the efficiency of selection. The analysis of viral genomes in the 1980s and 1990s established the quasispecieslike structure of their populations and allowed extensive analyses of the relationships among vims strains and species. The concept that vims populations had huge sizes and high rates of adaptive mutations became prevalent in this period, with selection mostly invoked as explaining observed patterns of population structure and evolution. In recent times vims evolution has been coming into line with evolutionary biology, and a more complex scenario has emerged. Population bottlenecks during host colonization, during host-to-host transmission or during host population fluctuations may result in smaller population sizes, and genetic drift has been recognized as an important evolutionary factor. Also, particularities of viral genomes such as low levels of neutrality, multifunctionality of coding and encoded sequences or strong epistasis could constrain the plasticity of viral genomes and hinder their response to selection. Exploring the complexities of plant vims evolution will continue to be a challenge for the future, particularly as it affects host, vector and ecosystem dynamics

The database of the PREDICTS (Projecting Responses of Ecological Diversity In Changing Terrestrial Systems) project

The PREDICTS project-Projecting Responses of Ecological Diversity In Changing Terrestrial Systems (www.predicts.org.uk)-has collated from published studies a large, reasonably representative database of comparable samples of biodiversity from multiple sites that differ in the nature or intensity of human impacts relating to land use. We have used this evidence base to develop global and regional statistical models of how local biodiversity responds to these measures. We describe and make freely available this 2016 release of the database, containing more than 3.2 million records sampled at over 26,000 locations and representing over 47,000 species. We outline how the database can help in answering a range of questions in ecology and conservation biology. To our knowledge, this is the largest and most geographically and taxonomically representative database of spatial comparisons of biodiversity that has been collated to date; it will be useful to researchers and international efforts wishing to model and understand the global status of biodiversity

Global effects of land use on local terrestrial biodiversity

Human activities, especially conversion and degradation of habitats, are causing global biodiversity declines. How local ecological assemblages are responding is less clear--a concern given their importance for many ecosystem functions and services. We analysed a terrestrial assemblage database of unprecedented geographic and taxonomic coverage to quantify local biodiversity responses to land use and related changes. Here we show that in the worst-affected habitats, these pressures reduce within-sample species richness by an average of 76.5%, total abundance by 39.5% and rarefaction-based richness by 40.3%. We estimate that, globally, these pressures have already slightly reduced average within-sample richness (by 13.6%), total abundance (10.7%) and rarefaction-based richness (8.1%), with changes showing marked spatial variation. Rapid further losses are predicted under a business-as-usual land-use scenario; within-sample richness is projected to fall by a further 3.4% globally by 2100, with losses concentrated in biodiverse but economically poor countries. Strong mitigation can deliver much more positive biodiversity changes (up to a 1.9% average increase) that are less strongly related to countries' socioeconomic status