A fault detection and isolation system for cooperative manipulators

The problem of fault detection and isolation (FDI) in cooperative manipulators is addressed in this paper. Four FDI procedures are developed to deal with free-swinging joint faults, locked joint faults, incorrectly measured joint position, and incorrectly measured joint velocity. Free-swinging and locked joint faults are isolated via neural networks. For each arm, a Multilayer Perceptron (MLP) is used to reproduce the dynamics of the fault-free robot. The outputs of each MLP are compared to the actual joint velocities in order to generate a residual vector which is then classified by an RBF network. The remaining faults are isolated based on the kinematic constraints imposed on the cooperative system. Results obtained via simulations and via an actual cooperative manipulator robot are presented

Convenções e emissão de moeda e de dívida pública para combater a crise econômica da COVID-19: uma perspectiva Pós-Keynesiana

O objetivo deste artigo é, por um lado, analisar, com base nas ideias de Keynes, a relevância da emissão de moeda e de dívida pública para mitigar a crise econômica da Covid-19 e, por outro lado, analisar o papel das convenções neste contexto.The aim of this article is, on the one hand, to analyze, based on Keynes’s ideas, the relevance of money creation and public debt to mitigate the Covid-19 economic crisis, and, on the other hand, it analyses the role of conventions in this context

H ’infinite’ estimates for discrete-time Markovian jump linear systems.

This paper deals with the problem of H∞ filtering for discrete-timeMarkovian jump linear systems. Predicted and filtered estimates\ud are obtained based on the game theory. Both filters are solved through recursive algorithms. The Markovian system considered\ud assumes that the jump parameters are not accessible. Necessary and sufficient conditions are provided to the existence of the filters.\ud A numerical example is provided in order to show the effectiveness of the approach proposed

Estimativas de parâmetros genéticos de características andrológicas de touros jovens da raça Nelore por meio da inferência bayesiana

The aim of this study was to predict genetic parameters of Nelore males reproductive traits, with age between 17 and 24 months, raised in the Middle-west of Brazil, using Bayesian inference. The group of data considered 1.265 breeding soundness evaluations obtained between 2001 and 2007, in four different properties. Records were obtained from the measure of the scrotal circumference and were evaluated the spermatic morphology. Animals were classified in apt to reproduction or sexually immature. The genetic parameters were estimated through the software THRGIBBS1F90, that uses bayesian inference under animal model. Among 1.265 animals evaluated, 880 (69.56%) were considered apt to reproduction and 385 (30.43%) sexually immature. The heritability estimates for scrotal circumference, larger defects, minor and total were 0.45; 0.13; 0.06 and 0.14, respectively. The estimates of genetic correlation between the scrotal circumference and these same traits were -0.24; -0.04 and -0.18, respectively. The results allowed to conclude that, except the scrotal circumference, all the other traits studied suffer environmental influences and the scrotal circumference would not be the most appropriate trait when the intention is to obtain improvement of the seminal qualitative aspects being advisable the identification of other traits that allow the obtaining genetic through the indirect progress selection.Objetivou-se com este estudo estimar parâmetros genéticos de características indicadoras da qualidade seminal de machos da raça Nelore, com idade entre 17 e 24 meses, criados na região Centro-Oeste do Brasil, com utilização da inferência bayesiana. O conjunto de dados considerou 1.265 avaliações andrológicas realizadas entre 2001 e 2007, em quatro propriedades diferentes. Obteve-se a medida do perímetro escrotal, realizou-se a avaliação da morfologia espermática e os animais foram classificados em aptos ou sexualmente imaturos. Os parâmetros genéticos foram estimados por meio do pacote computacional THRGIBBS1F90, que aplica a inferência bayesiana sob modelo animal. Dos 1.265 animais avaliados, 880 (69,56%) foram considerados aptos à reprodução e 385 (30,43%) sexualmente imaturos. As estimativas de herdabilidade obtidas para perímetro escrotal, defeitos maiores, menores e totais foram 0,45; 0,13; 0,06 e 0,14, respectivamente. As estimativas de correlação genética entre o perímetro escrotal e estas mesmas características foram -0,24; -0,04 e -0,18, respectivamente. Os resultados mostraram que, à exceção do perímetro escrotal, todas as outras características estudadas sofreram influência ambiental e o perímetro escrotal não seria a característica mais adequada quando o intuito é obter melhoria dos aspectos qualitativos seminais, sendo recomendável a identificação de outras características que permitam a obtenção de progresso genético por meio da seleção indireta

The IASLC Lung Cancer Staging Project: A Renewed Call to Participation

Over the past two decades, the International Association for the Study of Lung Cancer (IASLC) Staging Project has been a steady source of evidence-based recommendations for the TNM classification for lung cancer published by the Union for International Cancer Control and the American Joint Committee on Cancer. The Staging and Prognostic Factors Committee of the IASLC is now issuing a call for participation in the next phase of the project, which is designed to inform the ninth edition of the TNM classification for lung cancer. Following the case recruitment model for the eighth edition database, volunteer site participants are asked to submit data on patients whose lung cancer was diagnosed between January 1, 2011, and December 31, 2019, to the project by means of a secure, electronic data capture system provided by Cancer Research And Biostatistics in Seattle, Washington. Alternatively, participants may transfer existing data sets. The continued success of the IASLC Staging Project in achieving its objectives will depend on the extent of international participation, the degree to which cases are entered directly into the electronic data capture system, and how closely externally submitted cases conform to the data elements for the project