Task planning and control synthesis for robotic manipulation in space applications

Space-based robotic systems for diagnosis, repair and assembly of systems will require new techniques of planning and manipulation to accomplish these complex tasks. Results of work in assembly task representation, discrete task planning, and control synthesis which provide a design environment for flexible assembly systems in manufacturing applications, and which extend to planning of manipulatiuon operations in unstructured environments are summarized. Assembly planning is carried out using the AND/OR graph representation which encompasses all possible partial orders of operations and may be used to plan assembly sequences. Discrete task planning uses the configuration map which facilitates search over a space of discrete operations parameters in sequential operations in order to achieve required goals in the space of bounded configuration sets

Vacuum Polarization for a Massless Spin-1/2 Field in the Global Monopole Spacetime at Nonzero Temperature

In this paper we present the effects produced by the temperature in the renormalized vacuum expectation value of the zero-zero component of the energy-momentum tensor associated with massless left-handed spinor field in the pointlike global monopole spacetime. In order to develop this calculation we had to obtain the Euclidean thermal Green function in this background. Because the expression obtained for the thermal energy density cannot be expressed in a closed form, its explicit dependence on the temperature is not completely evident. So, in order to obtain concrete information about its thermal behavior, we develop a numerical analysis of our result in the high-temperature limit for specific values of the parameter $\alpha$ which codify the presence of the monopole.Comment: 22 pages, LaTex format, 5 figure

Análise de Envoltória de Dados para alocação de recursos: uma proposta de algoritmo sequencial.

Este trabalho apresenta um modelo sequencial de atribuição de recursos em modelos DEA, inspirado no modelo de votação de Hondt, considerando-se que o excesso de recursos a ser distribuído tem soma constante. Caso fosse de interesse realocal os recursos já existentes, mantendo-se constante o total dos recursos (soma dos recursos constante) poderia ser usado o modelo DEA com Ganhos de Soma Zero - GSZ-DEA, orientado a inputs. O algoritmo sequencial de alocação de recursos em DEA proposto neste artigo é aplicado à distribuição de vagas docentes aos departamentos de ensino do Centro Tecnológico da UFF. O modelo considera o número de professores de cada departamento, o envolvimento com atividades de ensino e pesquisa e a existência de projetos de expansão aprovados

Star formation in low density HI gas around the Elliptical Galaxy NGC2865

Interacting galaxies surrounded by HI tidal debris are ideal sites for the study of young clusters and tidal galaxy formation. The process that triggers star formation in the low-density environments outside galaxies is still an open question. New clusters and galaxies of tidal origin are expected to have high metallicities for their luminosities. Spectroscopy of such objects is, however, at the limit of what can be done with existing 8-10m class telescopes, which has prevented statistical studies of these objects. NGC2865 is an UV-bright merging elliptical galaxy with shells and extended HI tails. The regions observed in this work were previously detected using multi-slit imaging spectroscopy. We obtain new multislit spectroscopy of six young star-forming regions around NGC2865, to determine their redshifts and metallicities. The six emission-line regions are located 16-40 kpc from NGC2865 and they have similar redshifts. They have ages of ~10Myears and an average metallicity of 12+log(O/H) ~ 8.6, suggesting a tidal origin for the regions. It is noted that they coincide with an extended HI tail, which has projected density of N$_{HI}$ < 10$^{19}$ cm$^{-2}$, and displays a low surface brightness counterpart. These regions may represent the youngest of the three populations of star clusters already identified in NGC2865. The high, nearly-solar, oxygen abundances found for the six regions in the vicinity of NGC2865 suggest that they were formed by pre-enriched material from the parent galaxy, from gas removed during the last major merger. Given the mass and the location of the HII regions, we can speculate that these young star-forming regions are potential precursors of globular clusters that will be part of the halo of NGC2865 in the future. Our result supports the use of the multi-slit imaging spectroscopy as a useful tool for finding nearly-formed stellar systems around galaxies.Comment: 7 pages, 2 figures accepted in A&

A Multiwavelength Study on the Fate of Ionizing Radiation in Local Starbursts

The fate of ionizing radiation is vital for understanding cosmic ionization, energy budgets in the interstellar and intergalactic medium, and star formation rate indicators. The low observed escape fractions of ionizing radiation have not been adequately explained, and there is evidence that some starbursts have high escape fractions. We examine the spectral energy distributions of a sample of local star-forming galaxies, containing thirteen local starburst galaxies and ten of their ordinary star-forming counterparts, to determine if there exist significant differences in the fate of ionizing radiation in these galaxies. We find that the galaxy-to-galaxy variations in the SEDs is much larger than any systematic differences between starbursts and non-starbursts. For example, we find no significant differences in the total absorption of ionizing radiation by dust, traced by the 24um, 70um, and 160um MIPS bands of the Spitzer Space Telescope, although the dust in starburst galaxies appears to be hotter than that of non-starburst galaxies. We also observe no excess ultraviolet flux in the GALEX bands that could indicate a high escape fraction of ionizing photons in starburst galaxies. The small H-alpha fractions of the diffuse, warm ionized medium in starburst galaxies are apparently due to temporarily boosted H-alpha luminosity within the star-forming regions themselves, with an independent, constant WIM luminosity. This independence of the WIM and starburst luminosities contrasts with WIM behavior in non-starburst galaxies and underscores our poor understanding of radiation transfer in both ordinary and starburst galaxies.Comment: 10 pages, 8 figures, accepted to ApJ 10/11/1

A Pomset-Based Model for Estimating Workcells' Setups in Assembly Sequence Planning

This paper presents a model based on pomsets (partially ordered multisets) for estimating the minimum number of setups in the workcells in Assembly Sequence Planning. This problem is focused through the minimization of the makespan (total assembly time) in a multirobot system. The planning model considers, apart from the durations and resources needed for the assembly tasks, the delays due to the setups in the workcells. An A* algorithm is used to meet the optimal solution. It uses the And/Or graph for the product to assemble, that corresponds to a compressed representation of all feasible assembly plans. Two basic admissible heuristic functions can be defined from relaxed models of the problem, considering the precedence constraints and the use of resources separately. The pomset-based model presented in this paper takes into account the precedence constraints in order to obtain a better estimation for the second heuristic function, so that the performance of the algorithm could be improved

Análise genética de características de fertilidade, de crescimento e de produtividade em vacas da raça Canchim.

O objetivo deste trabalho foi estimar herdabilidades e correlações genéticas para idade (IPP), peso (PPP) e escore da condição corporal (EPP) ao primeiro parto, tempo de permanência no rebanho (TPR), número (ND10) e quilograma (QD10) de bezerros desmamados em até dez anos de idade, número (NDT) e quilograma (QDT) de bezerros desmamados durante a permanência no rebanho, quilograma de bezerros desmamados por ano de permanência no rebanho (QTPR), peso adulto (PAD) e parâmetros A e k da curva de crescimento de Bertalanffy de fêmeas de um rebanho da raça Canchim. As distribuições a posteriori dos componentes de (co)variância foram obtidas por inferência bayesiana, em análises bicaráter de IPP, PPP e EPP com as outras características. Os modelos estatísticos incluíram os efeitos aleatórios genético aditivo direto e residual e os efeitos fixos de ano e mês de nascimento ou do parto e idade da vaca ao parto, dependendo da característica. As médias a posteriori das herdabilidades foram 0,12 (IPP); 0,51 (PPP); 0,36 (EPP); 0,22 (TPR); 0,24 (ND10); 0,24 (QD10); 0,25 (NDT); 0,23 (QDT); 0,31 (QTPR); 0,56 (PAD); 0,60 (A) e 0,54 (k), indicando que as características possuem variação genética aditiva suficiente para apresentar boa resposta à seleção massal, com exceção de IPP. As correlações genéticas de TPR (-0,35; -0,23 e -0,02), ND10 (-0,33; -0,40 e -0,02), QD10 (-0,47; -0,29 e 0,00), NDT (-0,43; -0,41 e -0,02), QDT (-0,46; -0,28 e 0,00), QTPR (-0,52; -0,35 e 0,00), PAD (0,19; 0,86 e 0,40), A (0,07; 0,09 e -0,18) e k (-0,21; 0,08 e 0,04) com IPP, PPP e EPP, respectivamente, sugerem que a seleção para reduzir a IPP deve melhorar a longevidade e as características de produtividade das fêmeas; porém, o aumento do PPP poderá prejudicá-las. Palavras-chave

The self-energy of a charged particle in the presence of a topological defect distribution

In this work we study a charged particle in the presence of both a continuous distribution of disclinations and a continuous distribution of edge dislocations in the framework of the geometrical theory of defects. We obtain the self-energy for a single charge both in the internal and external regions of either distribution. For both distributions the result outside the defect distribution is the self-energy that a single charge experiments in the presence of a single defect.Comment: 12 pages, Revtex4, two figures,to appear in Int. Joun. Mod. Phys.

Electrostatic self-force in (2+1)-dimensional cosmological gravity

Point sources in (2+1)-dimensional gravity are conical singularities that modify the global curvature of the space giving rise to self-interaction effects on classical fields. In this work we study the electrostatic self-interaction of a point charge in the presence of point masses in (2+1)-dimensional gravity with a cosmological constant.Comment: 9 pages, Late