Calibration and Control of a Redundant Robotic Workcell for Milling Tasks

This article deals with the tuning of a complex robotic workcell of eight joints devoted to milling tasks. It consists of a KUKA (TM) manipulator mounted on a linear track and synchronised with a rotary table. Prior to any machining, the additional joints require an in situ calibration in an industrial environment. For this purpose, a novel planar calibration method is developed to estimate the external joint configuration parameters by means of a laser displacement sensor and avoiding direct contact with the pattern. Moreover, a redundancy resolution scheme on the joint rate level is integrated within a computer aided manufacturing system for the complete control of the workcell during the path tracking of a milling task. Finally, the whole system is tested in the prototyping of an orographic model.Andres De La Esperanza, FJ.; Gracia Calandin, LI.; Tornero Montserrat, J. (2011). Calibration and Control of a Redundant Robotic Workcell for Milling Tasks. International Journal of Computer Integrated Manufacturing. 24(6):561-573. doi:10.1080/0951192X.2011.566284S56157324

Biomedical informatics and translational medicine

Biomedical informatics involves a core set of methodologies that can provide a foundation for crossing the "translational barriers" associated with translational medicine. To this end, the fundamental aspects of biomedical informatics (e.g., bioinformatics, imaging informatics, clinical informatics, and public health informatics) may be essential in helping improve the ability to bring basic research findings to the bedside, evaluate the efficacy of interventions across communities, and enable the assessment of the eventual impact of translational medicine innovations on health policies. Here, a brief description is provided for a selection of key biomedical informatics topics (Decision Support, Natural Language Processing, Standards, Information Retrieval, and Electronic Health Records) and their relevance to translational medicine. Based on contributions and advancements in each of these topic areas, the article proposes that biomedical informatics practitioners ("biomedical informaticians") can be essential members of translational medicine teams

Freshwater Seepage Into Sediments of the Shelf, Shelf Edge, and Continental Slope of the Canadian Beaufort Sea

Long‐term warming of the continental shelf of the Canadian Beaufort Sea caused by the transgression associated with the last deglaciation may be causing decomposition of relict offshore subsea permafrost and gas hydrates. To evaluate this possibility, pore waters from 118 sediment cores up to 7.3‐m long were taken on the shelf and slope and analyzed for chloride concentrations and δ180 and δD composition. We observed downcore decreases in pore waters Cl− concentration in sediments from all sites from the inner shelf (<20‐m water depth), from the shelf edge, from the outer slope (down to 1,000‐m water depths), and from localized shelf features such as midshelf pingo‐like features and inner shelf pockmarks. In contrast, pore water freshening is absent from all investigated cores of the Mackenzie Trough. Downcore pore waters Cl− concentration decreases indicate regional widespread freshwater seepage. Extrapolations to zero Cl− of pore water Cl− versus δ180 regression lines indicate that freshwaters in these environments carry different isotope signatures and thus are sourced from different reservoirs. These isotopic signatures indicate that freshening of shelf sediments pore waters is a result of downward infiltration of Mackenzie River water, freshening of shelf edge sediments is due to relict submarine permafrost degradation or gas hydrate decomposition under the shelf, and freshening of slope sediments is consistent with regional groundwater flow and submarine groundwater discharge as far as 150 km from shore. These results confirm ongoing decomposition of offshore permafrost and suggest extensive current groundwater discharge far from the coast