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

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

Vírus detectados em germoplasma vegetal introduzido no Brasil pelo laboratório de quarentena (2004-2007).

bitstream/CENARGEN/29614/1/cot172.pd

Stellar equilibrium configurations of white dwarfs in the f(R,T)f(R,T) gravity

In this work we investigate the equilibrium configurations of white dwarfs in a modified gravity theory, na\-mely, $f(R,T)$ gravity, for which $R$ and $T$ stand for the Ricci scalar and trace of the energy-momentum tensor, respectively. Considering the functional form $f(R,T)=R+2\lambda T$, with $\lambda$ being a constant, we obtain the hydrostatic equilibrium equation for the theory. Some physical properties of white dwarfs, such as: mass, radius, pressure and energy density, as well as their dependence on the parameter $\lambda$ are derived. More massive and larger white dwarfs are found for negative values of $\lambda$ when it decreases. The equilibrium configurations predict a maximum mass limit for white dwarfs slightly above the Chandrasekhar limit, with larger radii and lower central densities when compared to standard gravity outcomes. The most important effect of $f(R,T)$ theory for massive white dwarfs is the increase of the radius in comparison with GR and also $f(R)$ results. By comparing our results with some observational data of massive white dwarfs we also find a lower limit for $\lambda$, namely, $\lambda >- 3\times 10^{-4}$.Comment: To be published in EPJ

Praga Quarentenária A1. Grapevine flavescence dorée phytoplasma.

bitstream/CENARGEN/29617/1/cot173.pd

Intercâmbio e quarentena de germoplasma vegetal no período de 2004 a 2007.

bitstream/CENARGEN/29595/1/cot158.pd

The Kumaraswamy-G Poisson Family of Distributions

For any baseline continuous G distribution, we propose a new generalized family called the Kumaraswamy-G Poisson (denoted with the prefix “Kw-GP”) with three extra positive parameters. Some special distributions in the new family such as the Kw-Weibull Poisson, Kw-gamma Poisson and Kw-beta Poisson distributions are introduced. We derive some mathematical properties of the new family including the ordinary moments, generating function and order statistics. The method of maximum likelihood is used to fit the distributions in the new family. We illustrate its potentiality by means of an application to a real data set

Active Constraints using Vector Field Inequalities for Surgical Robots

Robotic assistance allows surgeons to perform dexterous and tremor-free procedures, but is still underrepresented in deep brain neurosurgery and endonasal surgery where the workspace is constrained. In these conditions, the vision of surgeons is restricted to areas near the surgical tool tips, which increases the risk of unexpected collisions between the shafts of the instruments and their surroundings, in particular in areas outside the surgical field-of-view. Active constraints can be used to prevent the tools from entering restricted zones and thus avoid collisions. In this paper, a vector field inequality is proposed that guarantees that tools do not enter restricted zones. Moreover, in contrast with early techniques, the proposed method limits the tool approach velocity in the direction of the forbidden zone boundary, guaranteeing a smooth behavior and that tangential velocities will not be disturbed. The proposed method is evaluated in simulations featuring two eight degrees-of-freedom manipulators that were custom-designed for deep neurosurgery. The results show that both manipulator-manipulator and manipulator-boundary collisions can be avoided using the vector field inequalities.Comment: Accepted on ICRA 2018, 8 page

Praga quarentenária A1* "Cacau swollen shoot", "Cacao swollen shoot virus".

bitstream/CENARGEN/27934/1/cot112.pd