A Sensor Classification Strategy for Robotic Manipulators

In practice the robotic manipulators present some degree of unwanted vibrations. The advent of lightweight arm manipulators, mainly in the aerospace industry, where weight is an important issue, leads to the problem of intense vibrations. On the other hand, robots interacting with the environment often generate impacts that propagate through the mechanical structure and produce also vibrations. In order to analyze these phenomena a robot signal acquisition system was developed. The manipulator motion produces vibrations, either from the structural modes or from endeffector impacts. The instrumentation system acquires signals from several sensors that capture the joint positions, mass accelerations, forces and moments, and electrical currents in the motors. Afterwards, an analysis package, running off-line, reads the data recorded by the acquisition system and extracts the signal characteristics. Due to the multiplicity of sensors, the data obtained can be redundant because the same type of information may be seen by two or more sensors. Because of the price of the sensors, this aspect can be considered in order to reduce the cost of the system. On the other hand, the placement of the sensors is an important issue in order to obtain the suitable signals of the vibration phenomenon. Moreover, the study of these issues can help in the design optimization of the acquisition system. In this line of thought a sensor classification scheme is presented. Several authors have addressed the subject of the sensor classification scheme. White (White, 1987) presents a flexible and comprehensive categorizing scheme that is useful for describing and comparing sensors. The author organizes the sensors according to several aspects: measurands, technological aspects, detection means, conversion phenomena, sensor materials and fields of application. Michahelles and Schiele (Michahelles & Schiele, 2003) systematize the use of sensor technology. They identified several dimensions of sensing that represent the sensing goals for physical interaction. A conceptual framework is introduced that allows categorizing existing sensors and evaluates their utility in various applications. This framework not only guides application designers for choosing meaningful sensor subsets, but also can inspire new systems and leads to the evaluation of existing applications. Today’s technology offers a wide variety of sensors. In order to use all the data from the diversity of sensors a framework of integration is needed. Sensor fusion, fuzzy logic, and neural networks are often mentioned when dealing with problem of combing information from several sensors to get a more general picture of a given situation. The study of data fusion has been receiving considerable attention (Esteban et al., 2005; Luo & Kay, 1990). A survey of the state of the art in sensor fusion for robotics can be found in (Hackett & Shah, 1990). Henderson and Shilcrat (Henderson & Shilcrat, 1984) introduced the concept of logic sensor that defines an abstract specification of the sensors to integrate in a multisensor system. The recent developments of micro electro mechanical sensors (MEMS) with unwired communication capabilities allow a sensor network with interesting capacity. This technology was applied in several applications (Arampatzis & Manesis, 2005), including robotics. Cheekiralla and Engels (Cheekiralla & Engels, 2005) propose a classification of the unwired sensor networks according to its functionalities and properties. This paper presents a development of a sensor classification scheme based on the frequency spectrum of the signals and on a statistical metrics. Bearing these ideas in mind, this paper is organized as follows. Section 2 describes briefly the robotic system enhanced with the instrumentation setup. Section 3 presents the experimental results. Finally, section 4 draws the main conclusions and points out future work

The atrial resting potential distribution within a fibrotic zone and its effects on the conduction on non-fibrotic zones: A simulation study

Atrial fibrillation (AF) is a heart condition commonly diagnosed within the clinical praxis. During an AF episode, rapid and irregular heartbeats are present and they underly a complex electrical activity. It is known that the atrial structural alterations play a role in establishing the fibrillatory propagation patterns. However, the specific mechanisms are not fully understood. Fibrosis is a hallmark of AF and it represents structural abnormalities that disturbs the atrial electrical conduction. In this work, the behavior of the cardiomyocytes resting action potential in a fibrotic tissue, under distinct textures, is studied. A computational model of atrial electrophysiology is implemented. For the fibrosis model, spatial complex-order derivatives are used. Several values for the derivative order are tested in order to generate different degrees of structural complexity. The fibrosis model also includes cellular heterogeneity through the presence of fibroblasts coupled to cardiomyocytes. Diffuse, interstitial and compact fibrosis textures are implemented in a 2D domain and the amount of fibrosis is varied. The distribution of the resting potential is assessed using the Shannon entropy and the tissue is stimulated in order to evaluate the conduction velocity. The results indicate that, the distinct fibrosis structural conditions generate a wide range of resting potential distributions: from normal to heavy-tailed. The entropy values indicate the changes in the resting potential distribution when the structural complexity varies. Such analysis evinced that the amount of fibrosis generates specific entropy curves respect the derivative order. Moreover, the conduction velocity outside the fibrotic area is affected by the fibrotic configuration, which evinces the long-range effect of the fractional derivative operator and agrees with experimental observations. These results suggest that the proposed complex-order model can be useful for modeling fibrosis during atrial fibrillation and the entropy approach allows characterizing the wide range of fibrillatory scenarios under distinct fibrosis configurations.info:eu-repo/semantics/publishedVersio

Endothelial dysfunction: a comprehensive appraisal

The endothelium is a thin monocelular layer that covers all the inner surface of the blood vessels, separating the circulating blood from the tissues. It is not an inactive organ, quite the opposite. It works as a receptor-efector organ and responds to each physical or chemical stimulus with the release of the correct substance with which it may maintain vasomotor balance and vascular-tissue homeostasis. It has the property of producing, independently, both agonistic and antagonistic substances that help to keep homeostasis and its function is not only autocrine, but also paracrine and endocrine. In this way it modulates the vascular smooth muscle cells producing relaxation or contraction, and therefore vasodilatation or vasoconstriction. The endothelium regulating homeostasis by controlling the production of prothrombotic and antithrombotic components, and fibrynolitics and antifibrynolitics. Also intervenes in cell proliferation and migration, in leukocyte adhesion and activation and in immunological and inflammatory processes. Cardiovascular risk factors cause oxidative stress that alters the endothelial cells capacity and leads to the so called endothelial "dysfunction" reducing its capacity to maintain homeostasis and leads to the development of pathological inflammatory processes and vascular disease. There are different techniques to evaluate the endothelium functional capacity, that depend on the amount of NO produced and the vasodilatation effect. The percentage of vasodilatation with respect to the basal value represents the endothelial functional capacity. Taking into account that shear stress is one of the most important stimulants for the synthesis and release of NO, the non-invasive technique most often used is the transient flow-modulate "endothelium-dependent" post-ischemic vasodilatation, performed on conductance arteries such as the brachial, radial or femoral arteries. This vasodilatation is compared with the vasodilatation produced by drugs that are NO donors, such as nitroglycerine, called "endothelium independent". The vasodilatation is quantified by measuring the arterial diameter with high resolution ultrasonography. Laser-Doppler techniques are now starting to be used that also consider tissue perfusion. There is so much proof about endothelial dysfunction that it is reasonable to believe that there is diagnostic and prognostic value in its evaluation for the late outcome. There is no doubt that endothelial dysfunction contributes to the initiation and progression of atherosclerotic disease and could be considered an independent vascular risk factor. Although prolonged randomized clinical trials are needed for unequivocal evidence, the data already obtained allows the methods of evaluation of endothelial dysfunction to be considered useful in clinical practice and have overcome the experimental step, being non-invasive increases its value making it use full for follow-up of the progression of the disease and the effects of different treatments

Knotting fractional-order knots with the polarization state of light

The fundamental polarization singularities of monochromatic light are normally associated with invariance under coordinated rotations: symmetry operations that rotate the spatial dependence of an electromagnetic field by an angle $\theta$ and its polarization by a multiple $\gamma\theta$ of that angle. These symmetries are generated by mixed angular momenta of the form $J_\gamma = L + \gamma S$ and they generally induce M\"obius-strip topologies, with the coordination parameter $\gamma$ restricted to integer and half-integer values. In this work we construct beams of light that are invariant under coordinated rotations for arbitrary $\gamma$, by exploiting the higher internal symmetry of 'bicircular' superpositions of counter-rotating circularly polarized beams at different frequencies. We show that these beams have the topology of a torus knot, which reflects the subgroup generated by the torus-knot angular momentum $J_\gamma$, and we characterize the resulting optical polarization singularity using third-and higher-order field moment tensors, which we experimentally observe using nonlinear polarization tomography.Comment: Submitted Manuscript, including a subset of the figures from the published Supplementary Informatio

Influence of the scrotum bipartite on the reproductive parameters in goats

Avaliou-se a influência do grau de bipartição escrotal sobre os parâmetros reprodutivos em caprinos. Foram utilizados 30 animais, distribuídos em três grupos: Grupo I, animais que apresentavam escroto sem bipartição (n =10); Grupo II, animais com bipartição escrotal até 50% do comprimento dos testículos (n=10); e Grupo III, caprinos com bipartição escrotal acima de 50% do comprimento testicular (n=10). Os parâmetros avaliados foram peso corporal, perímetro escrotal, comprimento testicular, características físicas e morfológicas do sêmen, concentração plasmática de testosterona e libido dos animais, comparando caprinos com escroto bipartido e não bipartido. Os animais que apresentavam bipartição escrotal expressaram maior peso corporal e comprimento testicular, quando comparados com os animais do grupo sem escroto bipartido, sendo que estes apresentaram maior número de células espermáticas defeituosas. Conclui-se que a bipartição escrotal influencia positivamente alguns parâmetros biométricos bem como a qualidade do sêmen em caprinos.The influence of scrotum division on the reproductive parameters in goats was evaluated. Thirty animals were divided into three groups of 10 animals each as follows. Group I: animals with simple scrotum (n=10); Group II: animals with 50% of scrotum bipartite (n=10); and Group III: animals with more than 50% of scrotum bipartite (n=10). It was evaluated: body weight, scrotum perimeter and the testicular length, the seminal characteristic, plasmatic concentration of testosterone, and the libido of the animals with different degrees of scrotum division. Animals with divided scrotum had higher weight and testicular length when compared with animals from the first group that had a higher percentage of spermatic defects. It is possible to conclude that there was a positive influence of scrotal bipartition on the biometric parameters and the sperm quality in goats

Financial crisis and market risk premium: identifying multiple structural changes

La relación entre variables macroeconómicas y losrendimientos del mercado bursátil está bien documentado enla literatura. Sin embargo, en este artículo examinamos la relacióna largo plazo entre los rendimientos de los mercados debonos durante el periodo 1991:11 - 2009:11, utilizando la metodologíade cambios estructurales propuesta por Bai y Perron.Nuestros hallazgos indican que, mientras que la prima de riesgoes comúnmente positiva, aparecen tres períodos en los que éstatoma signo negativo (1991:1-1993:2, 1998:3-2002:2 and from2007:1-2009:11) adelantando cambios en la evolución del PIB.De esta forma, el estudio muestra la existencia de cambios estructuralesen la prima de riesgo española y la relación de éstacon el ciclo económico. Estos resultados contribuyen a una mejorcomprensión de las estrechas relaciones entre los mercadosfinancieros y el entorno macroeconómico. El trabajo tambiénanaliza las implicaciones del estudio así como sugerencias parala investigación futura