Timing Analysis for DAG-based and GFP Scheduled Tasks

Modern embedded systems have made the transition from single-core to multi-core architectures, providing performance improvement via parallelism rather than higher clock frequencies. DAGs are considered among the most generic task models in the real-time domain and are well suited to exploit this parallelism. In this paper we provide a schedulability test using response-time analysis exploiting exploring and bounding the self interference of a DAG task. Additionally we bound the interference a high priority task has on lower priority ones

The locomotion pattern of Baurusuchus salgadoensis Carvalho, Nobre & Campos, 2005 and the distribution of Baurusuchidae in Gondwanaland

Baurusuchus salgadoensis Carvalho, Nobre & Campos, 2005 is a ziphodont mesoeucrocodylian closely related to the Sebecosuchia. Cranial features indicate that this species had terrestrial predatory habits. The postcranial skeleton of B. salgadoensis show distinctive characteristics when compared to extant Crocodylomorpha. The dorsal vertebrae are close articulated with short and craniocaudally expanded neural spines, specially the posterior ones. The sacral vertebrae are robust and have the lateral processes highly fused to the ilium. The anterior caudal vertebrae are robust as the sacral ones but their neural spines are more stout, anteriorlly expanded and higher. The close articulation of the dorsal vertebrae may indicate a less flexible dorsal spine, ideal to limb-driven methods of locomotion. The high and expanded neural spines of the posterior dorsal and sacral vertebrae are associated to muscle attachment from the osteoderms and the pelvic musculature, all used in the limb-driven locomotion. The appendicular bones of B. salgadoensis are long and stout. They show a straight aspect of their diaphysis and very well- developed epiphysis. The femur is long when compared to extant crocodilians, showing a straight aspect in lateral view and a slight sigmoid aspect in frontal view. There is a small axial torsion at its proximal end. The fourth trochanter is pronouced and posteriorlly oriented. The proximal end possess a mesial projection that articulates itself to the illium, similar to those of Protosuchia and thecodont archosaurs as the Rauisuchia. The illium of B. salgadoensis present a lateral and posteriorlly expanded postaccetabular crest, similar to those observed in Rauisuchia and Protosuchia, referred as overhanging ilium. This pattern of articulation is observed in the rauisuchian thecodonts and interpreted as a characteristic trait of those able erect-posture and limb-driven predators of Triassic environments. B. salgadoensis exoskeleton has only two dorsal osteoderm rows that run from the neck to the tip of the tail. Most of the osteoderms are wider than longer, with a round lateral portion that does not articulate to any flank osteoderm. The only morphological difference appears at the caudalmost portion of the tail, where the osteoderms are craniocaudally elongated. The medial portion has little variation along the scutes rows and may bear medial lamellar dorsoventral structures of articulation to the adjacent bony plate. The anterior articular facet is discreet and the osteoderms are not as imbricated as occur in other crocodyliforms and even may not be imbricated at all. The pelvic region osteoderms have the tallest keel of the row that runs from the anterior articular facet to posteriosmost portion of the osteoderm. B. salgadoensis has a light exoskeleton and then is less encumbranced by it. Therefore, becaming more agile. The imbrication of dorsal armor assists the limb-driven locomotion of many crocodyliform by reducing the flexibility of the dorsal spine during the high-walk (erect stance). Therefore the long and stout limb bones, overhanging crest of the illium and the light weighted armor, also allowed to B. salgadoensis to have the limb-driven locomotion without this pattern of osteoderms. These anatomical data may indicate how the Baurusuchidae had a wide distribution in Gondwanaland as they were able to move across large distances

Occurrence of Gastroliths in _Baurusuchus_ (Baurusuchidae, Mesoeucrocodylia) from Adamantina Formation, Bauru Basin

The fossil record of Baurusuchidae Mesoeucrocodylia in the General Salgado county and its surroundings is one of the best regarding preservation, completeness and articulation of skull and skeleton remains, including specimens that shown even the most delicate bone structures and cartilaginous tissues. 

One of them, UFRJ DG 288-R, has preserved its skull and about 80% of its skeleton. During the removal of the rock matrix, on what should be the specimen’s abdominal region, together with fragments of gastralia were observed some small well-polished weathered angulous to subrounded clasts, presumed to be gastroliths. 

These xenoliths occur in a restrict cluster, where at least four peeble-sized stones are visible in the surface of the specimen. The texture and fabrics of these rock fragments differs from the surrounding matrix, presenting darker purplish tones. In thin section, one of the fragments revealed isotropic texture, with opaque minerals in abundance, of euhedric to subhedric habits. The mineralogical composition presents mainly clay minerals as weathering products; biotite and chlorite are common, being the last the result of hidratation of the first. Although highly altered, the low quartz content, small-sized and well-formed crystals suggests maphic composition in volcanic context, possibly representing a basalt fragment. 

In extant Crocodyliformes, the occurrence of gastroliths is commonly associated with food processing in the stomach, diving ballast, hunger stress and/or supplementary mineral ingestion. 

As baurusuchids are characterized as medium to large size fully terrestrial predator/scavengers, based on skeletal data, the ballast function of gasthroliths is excluded in this case. As mentioned above, extant crocodyliforms such as _Caiman_ and _Crocodylus_ ingest stones when under stressful conditions of lack of food, water or when in high population density. Osteoderms are one of the primary sources for calcium and a reservoir for the homeostasis. The hunger stress can be observed in the osteoderms histological cuts as an abnormal concentration of osteoclasts at its inner region overwhelming the presence of osteoblasts and consuming the osteocytes. The preservation of osteoderms associated with gasthroliths may reveal if the stone ingestion in baurusuchids is a normal or driven by hunger behavior. 

The paleoenvironmental conditions dominating the Adamantina Formation during the Late Cretaceous are considered mainly arid, marked with strong seasonality, alternating long droughts and short rainy periods, associated with flashflood events. The stressful condition created during the dry season would cause famine and mass mortality, thus forcing animals to endure or escape. The baurusuchids underwent the dry seasons through behavorial responses of self burial and probably stone ingestion, although natural bahavior cannot be eliminated as a cause. 

Financial support provided by Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq, grant no 305780/2006–9), Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES) and Instituto Virtual de Paleontologia/ Fundação Carlos Chagas Filho de Amparo à Pesquisa do Estado do Rio de Janeiro (IVP/FAPERJ, grant no E–26/152.541/2006).
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Dynamic Active Constraints for Surgical Robots using Vector Field Inequalities

Robotic assistance allows surgeons to perform dexterous and tremor-free procedures, but robotic aid is still underrepresented in procedures with constrained workspaces, such as deep brain neurosurgery and endonasal surgery. In these procedures, surgeons have restricted vision to areas near the surgical tooltips, which increases the risk of unexpected collisions between the shafts of the instruments and their surroundings. In this work, our vector-field-inequalities method is extended to provide dynamic active-constraints to any number of robots and moving objects sharing the same workspace. The method is evaluated with experiments and simulations in which robot tools have to avoid collisions autonomously and in real-time, in a constrained endonasal surgical environment. Simulations show that with our method the combined trajectory error of two robotic systems is optimal. Experiments using a real robotic system show that the method can autonomously prevent collisions between the moving robots themselves and between the robots and the environment. Moreover, the framework is also successfully verified under teleoperation with tool-tissue interactions.Comment: Accepted on T-RO 2019, 19 Page

Investigation of the existence of hybrid stars using Nambu-Jona-Lasinio models

We investigate the hadron-quark phase transition inside neutron stars and obtain mass-radius relations for hybrid stars. The equation of state for the quark phase using the standard NJL model is too soft leading to an unstable star and suggesting a modification of the NJL model by introducing a momentum cutoff dependent on the chemical potential. However, even in this approach, the instability remains. In order to remedy the instability we suggest the introduction of a vector coupling in the NJL model, which makes the EoS stiffer, reducing the instability. We conclude that the possible existence of quark matter inside the stars require high densities, leading to very compact stars.Comment: 4 pages, 2 figures; prepared for IV International Workshop on Astronomy and Relativistic Astrophysics (IWARA 2009), Maresias, 4-8 Oct 200

White dwarfs with a surface electrical charge distribution: Equilibrium and stability

The equilibrium configuration and the radial stability of white dwarfs composed of charged perfect fluid are investigated. These cases are analyzed through the results obtained from the solution of the hydrostatic equilibrium equation. We regard that the fluid pressure and the fluid energy density follow the relation of a fully degenerate electron gas. For the electric charge distribution in the object, we consider that it is centralized only close to the white dwarfs' surfaces. We obtain larger and more massive white dwarfs when the total electric charge is increased. To appreciate the effects of the electric charge in the structure of the star, we found that it must be in the order of $10^{20}\,[{\rm C}]$ with which the electric field is about $10^{16}\,[{\rm V/cm}]$. For white dwarfs with electric fields close to the Schwinger limit, we obtain masses around $2\,M_{\odot}$. We also found that in a system constituted by charged static equilibrium configurations, the maximum mass point found on it marks the onset of the instability. This indicates that the necessary and sufficient conditions to recognize regions constituted by stable and unstable equilibrium configurations against small radial perturbations are respectively $dM/d\rho_c>0$ and $dM/d\rho_c<0$.Comment: This is a preprint. The original paper will be published in EPJ