Dynamics of Serial Manipulators using Dual Quaternion Algebra

This paper presents two approaches to obtain the dynamical equations of serial manipulators using dual quaternion algebra. The first one is based on the recursive Newton-Euler formulation and uses twists and wrenches instead of 3D vectors, which simplifies the classic procedure by removing the necessity of exhaustive geometrical analyses since wrenches and twists are propagated through high-level algebraic operations. Furthermore, the proposed formulation works for arbitrary types of joints and does not impose any particular convention for the propagation of twists. The second approach, based on Gauss's Principle of Least Constraint (GPLC), takes into account elements of the dual quaternion algebra and provides a linear relationship between twists derivatives and joint accelerations, which can be particularly useful in robot control. Differently from other approaches based on the GPLC, which have representational singularities or require constraints, our method does not have those drawbacks. We present a thorough methodology to obtain the computational cost of both algorithms and compared them with their classic counterparts. Although our current formulations are more computationally expensive, they are more general than their counterparts in the state of the art. Simulation results showed that both methods are as accurate as the classic recursive Newton-Euler algorithm.Comment: Submitted for publication (currently under review

Neutron Transfer reactions induced by 8Li on 9Be

Angular distributions for the elastic scattering of 8Li on 9Be and the neutron transfer reactions 9Be(8Li,7Li)10Be and 9Be(8Li,9Li)8Be have been measured with a 27 MeV 8Li radioactive nuclear beam. Spectroscopic factors for 8Li|n=9Li and 7Li|n=8Li bound systems were obtained from the comparison between the experimental differential cross section and finite-range DWBA calculations with the code FRESCO. The spectroscopic factors obtained are compared to shell model calculations and to other experimental values from (d,p) reactions. Using the present values for the spectroscopic factor, cross sections for the direct neutron-capture reactions 7Li(n,g)8Li and 8Li(n,g)9Li were calculated in the framework of a potential model.Comment: 24 pages, 8 Figures, submitted as regular article to PR

On the order of BEC transition in weakly interacting gases predicted by mean-field theory

Predictions from Hartree-Fock (HF), Popov (P), Yukalov-Yukalova (YY) and $t$-matrix approximations regarding the thermodynamics from the normal to the BEC phase in weakly interacting Bose gases are considered. By analyzing the dependence of the chemical potential $\mu$ on temperature $T$ and particle density $\rho$ we show that none of them predicts a second-order phase transition as required by symmetry-breaking general considerations. In this work we find that the isothermal compressibility $\kappa_{T}$ predicted by these theories does not diverge at criticality as expected in a true second-order phase transition. Moreover the isotherms $\mu=\mu(\rho,T)$ typically exhibit a non-singled valued behavior in the vicinity of the BEC transition, a feature forbidden by general thermodynamic principles. This behavior can be avoided if a first order phase transition is appealed. The facts described above show that although these mean field approximations give correct results near zero temperature they are endowed with thermodynamic anomalies in the vicinity of the BEC transition. We address the implications of these results in the interpretation of current experiments with ultracold trapped alkali gases.Comment: 16 pages, 5 figure

Genetic diversity of brazilian buffaloes (Bubalus bubalis) using DNA microsatellites.

Foi estudada a diversidade genética de búfalos do Brasil utilizando-se vinte e cinco marcadores microssatélites (CSSM41, CSSM8, CSRM60, CSSM33, BM1818, HEL13, MAF65, CSSME70, HSC, BRN, CSSM36, CSSM22, HAUT24, BM1824, SRCRSP8, TGLA227, ILSTS33, INRA23, BM8125, CSSM19, INRA37, CSSM66, ILSTS011, OarFCB48, SPS115). Foram analisadas amostras colhidas ao acaso de cinco populações, ou seja, raças Carabao, Jafarabadi, Mediterrâneo e Murrah, mais o tipo Baio. Em geral, os valores para a diferença entre as heterozigosidades (Ho - He) foram bastantes pequenas, significando equilíbrio nos marcadores utilizados para este tipo de estudo. Os valores do GST demonstraram um nível alto de diferenciação genética e os da estatística F: Fis (f), Fst (q) e Fit (F) demonstraram que os marcadores utilizados permitem inferir informações adequadas sobre as populações, podendo-se deduzir que os grupos Baio, Carabao, Jafarabadi e Mediterrâneo apresentam-se mais homogêneos que o grupo Murrah, o qual mostra níveis altos de endogamia. Os resultados dos estudos de distância genética mostraram que as populações de Baio, Mediterraneo e Murrah, agrupando-se em um cluster comum, demonstra alta similaridade genética, não obstante as suas divergências fenotípicas, confirmando que o grupo Carabao constitui uma diferente subespécie. Os resultados, principalmente das populações de Baio e Carabao, mostram o êxito do trabalho de conservação genética e a necessidade de se desenvolver novas estratégias para a conservação do germoplasma dos búfalos do Brasil

Transfer/Breakup Modes in the 6He+209Bi Reaction Near and Below the Coulomb Barrier

Reaction products from the interaction of 6He with 209Bi have been measured at energies near the Coulomb barrier. A 4He group of remarkable intensity, which dominates the total reaction cross section, has been observed. The angular distribution of the group suggests that it results primarily from a direct nuclear process. It is likely that this transfer/breakup channel is the doorway state that accounts for the previously observed large sub-barrier fusion enhancement in this system.Comment: 4 pages; 3 figure

The ancestry of eastern paraguay: A typical south american profile with a unique pattern of admixture

Immigrants from diverse origins have arrived in Paraguay and produced important demographic changes in a territory initially inhabited by indigenous Guarani. Few studies have been performed to estimate the proportion of Native ancestry that is still preserved in Paraguay and the role of females and males in admixture processes. Therefore, 548 individuals from eastern Paraguay were genotyped for three marker sets: mtDNA, Y-SNPs and autosomal AIM-InDels. A genetic homogeneity was found between departments for each set of markers, supported by the demographic data collected, which showed that only 43% of the individuals have the same birthplace as their parents. The results show a sex-biased intermarriage, with higher maternal than paternal Native American ancestry. Within the native mtDNA lineages in Paraguay (87.2% of the total), most haplogroups have a broad distribution across the subcontinent, and only few are concentrated around the Paraná River basin. The frequency distribution of the European paternal lineages in Paraguay (92.2% of the total) showed a major contribution from the Iberian region. In addition to the remaining legacy of the colonial period, the joint analysis of the different types of markers included in this study revealed the impact of post-war migrations on the current genetic background of Paraguay.Funding: F.S. and L.G. were supported by Fundação de Amparo à Pesquisa do Rio de Janeiro–FAPERJ, Brazil (process E-26/202.275/2019 and CNE-2018). L.G. was supported by Conselho Nacional de Desenvolvimento Científico e Tecnológico–CNPq, Brazil (ref. 306342/2019-7). V.G. is supported by FCT under the program contract provided in Decree-Law no.57/2016 of August 29

Soil Bacterial Community Along an Altitudinal Gradient in the Sumaco, a Stratovolcano in the Amazon Region

Our study is a pioneering exploration of the microbiome in the soil of the Sumaco stratovolcano and an assessment of the effects of an elevational gradient and related physicochemical soil parameters on richness and community structure. The Sumaco, as an isolated Amazonian stratovolcano, may be among one of the least studied ecosystems in Ecuador and perhaps the Amazon region. Universal patterns remain unresolved or available information inconclusive to establish a supported consensus on general governing processes by which elevation and its associated environmental gradients may determine the microbial richness and community structure. We tested a recent proposal on how microbial diversity responds to montane gradients, placing a central role in soils as potentially independent of altitude along an elevational gradient. Correlations and effects among soil physicochemical parameters and altitude were contrasted against richness and community structure through quantitative ecology. The most informative physicochemical parameter in our assessment of bacterial community structure was neither pH nor altitude, but sulfur, which was mostly independent of the other tested parameters. We established a positive effect of richness by parameters associated with metallic cations such as Mn2+, and CEC, which were negatively correlated to altitude and pH. The possible relation between the significant role of sulfur on bacterial community structure with the unique geological origin of the Sumaco stratovolcano should be examined in the context of specialized sulfur metabolisms and additional information on community structure and environmental constraints. Our study establishes an initial baseline for further explorations of microbial diversity in this unexplored tropical stratovolcano

The microbiome of the ice-capped Cayambe Volcanic Complex in Ecuador

A major challenge in microbial ecology is to understand the principles and processes by which microbes associate and interact in community assemblages. Microbial communities in mountain glaciers are unique as first colonizers and nutrient enrichment drivers for downstream ecosystems. However, mountain glaciers have been distinctively sensitive to climate perturbations and have suffered a severe retreat over the past 40  years, compelling us to understand glacier ecosystems before their disappearance. This is the first study in an Andean glacier in Ecuador offering insights into the relationship of physicochemical variables and altitude on the diversity and structure of bacterial communities. Our study covered extreme Andean altitudes at the Cayambe Volcanic Complex, from 4,783 to 5,583 masl. Glacier soil and ice samples were used as the source for 16S rRNA gene amplicon libraries. We found (1) effects of altitude on diversity and community structure, (2) the presence of few significantly correlated nutrients to community structure, (3) sharp differences between glacier soil and glacier ice in diversity and community structure, where, as quantified by the Shannon γ-diversity distribution, the meta-community in glacier soil showed more diversity than in glacier ice; this pattern was related to the higher variability of the physicochemical distribution of variables in the former substrate, and (4) significantly abundant genera associated with either high or low altitudes that could serve as biomarkers for studies on climate change. Our results provide the first assessment of these unexplored communities, before their potential disappearance due to glacier retreat and climate change

Excision of an Unstable Pathogenicity Island in Salmonella enterica Serovar Enteritidis Is Induced during Infection of Phagocytic Cells

The availability of the complete genome sequence of several Salmonella enterica serovars has revealed the presence of unstable genetic elements in these bacteria, such as pathogenicity islands and prophages. This is the case of Salmonella enterica serovar Enteritidis (S. Enteritidis), a bacterium that causes gastroenteritis in humans and systemic infection in mice. The whole genome sequence analysis for S. Enteritidis unveiled the presence of several genetic regions that are absent in other Salmonella serovars. These regions have been denominated “regions of difference” (ROD). In this study we show that ROD21, one of such regions, behaves as an unstable pathogenicity island. We observed that ROD21 undergoes spontaneous excision by two independent recombination events, either under laboratory growth conditions or during infection of murine cells. Importantly, we also found that one type of excision occurred at higher rates when S. Enteritidis was residing inside murine phagocytic cells. These data suggest that ROD21 is an unstable pathogenicity island, whose frequency of excision depends on the environmental conditions found inside phagocytic cells