LaMMos - Latching Mechanism based on Motorized-screw for Reconfigurable Robots and Exoskeleton Suits

Reconfigurable robots refer to a category of robots that their components (individual joints and links) can be assembled in multiple configurations and geometries. Most of existing latching mechanisms are based on physical tools such as hooks, cages or magnets, which limit the payload capacity. Therefore, robots re- quire a latching mechanism which can help to reconfigure itself without sacrificing the payload capability. This paper presents a latching mechanism based on the flexible screw attaching principle. In which, actuators are used to move the robot links and joints while connecting them with a motorized-screw and dis- connecting them by unfastening the screw. The brackets used in our mechanism configuration helps to hold maximum force up to 5000N. The LaMMos - Latching Mechanism based on Motorized- screw has been applied to the DeWaLoP - Developing Water Loss Prevention in-pipe robot. It helps the robot to shrink its body to crawl into the pipe with minimum diameter, by recon- figuring the leg positions. And it helps to recover the legs positions to original status once the robot is inside the pipe. Also, LaMMos add stiffness to the robot legs by dynamically integrate them to the structure. Additionally, we present an application of the LaMMos mechanism to exoskeleton suits, for easing the mo- tors from the joints when carrying heavy weights for long periods of time. This mechanism offers many interesting opportunities for robotics research in terms of functionality, pay- load and size.Comment: 14 pages, 15 figure

Revisiting the Intertropical Brazilian Species Hoplophorus euphractus (Cingulata, Glyptodontoidea) and the Phylogenetic Affinities of Hoplophorus

The genus Hoplophorus is one of the most distinctive glyptodonts from the Quaternary deposits of the intertropical area of Brazil. In this paper, we redescribe cranial and postcranial elements and describe some new tarsal elements belonging to the species Hoplophorus euphractus from caves from Minas Gerais state, southern Brazil, in order to provide a better diagnosis for the genus. The material examined shows several striking, distinctive characters relative to Neosclerocalyptus, besides those previously reported, reinforcing the validity of Hoplophorus. On the other hand, we find that the postcrania of Hoplophorus presents striking, unreported resemblances with Panochthus (e.g., more lateromedially elongated cuboid facet of navicular and caudal tube with large lateral figures separated from the terminal ones by a wide space). In order to infer the relationships of Hoplophorus and to reevaluate the monophyly of the tribe Hoplophorini and the subfamily Hoplophorinae (in which Hoplophorus was previously allocated), we carried out a cladistic analysis of 18 taxa, including 13 glyptodont genera and five cingulate outgroups, scored for 151 cranial, dental, and postcranial characters. The most parsimonious tree shows that Hoplophorinae and Hoplophorini are both paraphyletic and has Hoplophorus as the sister group to Panochthus based mostly on synapomorphies of the caudal tube. We propose: (1) restricting the definition of the tribe Hoplophorini to the lineage represented by Hoplophorus, making it the sister group to Panochthini within Panochthinae (= Hoplophorus + Panochthus); and (2) a new subfamily, Neosclerocalyptinae, represented by Neosclerocalyptus, the sister group to Panochthinae.Fil: Porpino, Kleberson de O.. Universidade Federal do Rio Grande do Norte; BrasilFil: Fernicola, Juan Carlos. Consejo Nacional de Investigaciones Científicas y Técnicas. Oficina de Coordinación Administrativa Parque Centenario. Museo Argentino de Ciencias Naturales “Bernardino Rivadavia”; ArgentinaFil: Bergqvist, Lílian P.. Universidade Federal do Rio de Janeiro; Brasi

A new <i>Eocaiman</i> (Alligatoridae, Crocodylia) from the Itaboraí Basin, Paleogene of Rio de Janeiro, Brazil

<div><p>A new small species of <i>Eocaiman</i> is described on the basis of three anterior left mandibular rami and one isolated tooth. The specimens came from the middle-upper Paleocene Itaboraí Basin (Rio de Janeiro State, Brazil; Itaboraian South American Land Mammal Age). The new taxon differs from the other two <i>Eocaiman</i> species, such as its small size, likely participation of the splenial in the mandibular symphysis, a reduced angle between the longitudinal axis of the symphysis and the mandibular ramus, and enlarged ninth and tenth dentary teeth (in addition to the large first and fourth dentary teeth). The participation of the splenial in the mandibular symphysis is a unique character among caimanines (with the only possible exception being <i>Tsoabichi greenriverensis</i>). The new taxon provides new information on the taxonomic and anatomical diversity of the genus <i>Eocaiman</i>, a taxon of prime importance to understand the evolutionary origins of caimans given its position as the basalmost member of Caimaninae. Furthermore, the new taxon has a relatively small body size in comparison with other species of <i>Eocaiman</i>, a case paralleled by other Itaboraian reptilian groups (e.g. snakes), suggesting that this ecosystem provides critical data to test the relationship between reptilian body size and climate. </p> <p> </p> <p><a href="http://zoobank.org/83636F22-D121-4A77-9141-BE68987B6CBF" target="_blank">http://zoobank.org/83636F22-D121-4A77-9141-BE68987B6CBF</a></p> </div

Cross-section of correlation of vertical profile composites of the Bauru Group.

<p>Showing the sequence stratigraphic framework at facies association level of the Bauru Group.</p

Geological map of the Bauru Group, Paraná Basin (modified from [104]).

<p>The outcrops that yielded Itasuchidae specimens is located with the crocodile outlines. A-B and C-D are regional geological sections.</p

Details of the lingual crown surfaces, showing multicrenulate longitudinal ridges, from <i>Roxochampsa paulistanus</i> comb. nov. specimens.

<p>A- DGM 259-R; B- d12 of UFRJ-DG 451-R; C- d12 of UFRJ-DG 501-R. Each scale bar = 1 mm.</p

<i>Roxochampsa paulistanus</i> comb. nov. UFRJ-DG 451-R, d12 multicrenulate tooth features.

<p>A- detail of the basal region, showing multicrenulated high relief enamel ridges; B- detail of apical region, showing granulated protuberances “scaly-forms”; C- detail of mid-apex region, showing overlapping projections; D- section of distal and crenulated carena. Scale bar for the tooth = 10 mm; in A, C and D scale bars = 1 mm; in B scale bar = 0.1mm.</p

New stratigraphic chart of cretaceous of the Paraná Basin.

<p>Proposition of a revised chrono-lithostratigraphy of the Bauru Group.</p