Inverse Control and Stabilization of Free-flying Flexible Robots

The question of control and stabilization of flexible space robots is considered. Although, this approach is applicable to space robots of other configurations, for simplicity, a flexible planar two-link robot, mounted on a rigid floating platform, is considered. The robotic arm has two revolute joints and its links undergo elastic deformation in the plane of rotation. Based on nonlinear inversion technique, a control law is derived for controlling output variables describing the position and orientation of the platform and the joint angles of the robot. Although, the inverse controller accomplishes reference trajectory tracking, it excites the elastic modes of the arm. For the vibration suppression, three different stabilizer are designed. Using linear quadratic optimal control theory, a composite stabilizer for stabilization of the rigid and flexible modes and a decoupled flexible mode stabilizer are designed for regulating the end point of the robot to the target point and vibration suppression. Stabilization using only elastic mode velocity feedback is also considered. For large maneuvers, first the inverse controller is active, and the stabilizer is switched for regulation when the motion of the robot lies in the neighborhood of the terminal equilibrium state. Simulation results are presented to show that in the closed-loop system including the inverse controller and each of the stabilizers, trajectory tracking and stabilization of elastic modes are accomplished

Detection of recombination in variable number tandem repeat sequences

Tandem repeats are repeated sequences whose copies are adjacent along the chromosomes. They account for large portion of eukaryotic genomes and are found in all types of living organisms. Among tandem repeats, those with repeat unit of middle size are called minisatellites. These loci depart from classical loci because of the propensity to vary in size due to the addition or the removal of one or more repeat units. Due to this polymorphism, they prove useful in genetic mapping, in population genetics, and forensic medicine. Moreover, some specific tandem repeat loci are involved in diseases, like the insulin minisatellite, which is implicated in type I diabetes and obesity. Those loci also undergo complex recombination events. Presently, some programs to compare tandem repeats alleles exist and yield good results when recombination is absent, but none correctly handles recombinant alleles. Our goal is to develop an adequate tool for the detection of recombinant among a set of minisatellite sequences. By combining a multiple alignment tool and a method based on phylogenetic profiling, we design a first solution, called MS_PhylPro, for this task. The method has been implemented, tested on real data sets from the insulin minisatellite, and proven to detect recombinant allele

Sheep husbandry in the early Neolithic of the Pyrenees: new data on feeding and reproduction in the cave of Chaves

Sheep predominate the Early Neolithic faunal assemblages in the Iberian Peninsula. Their exploitation for meat and milk production made them key to the economy of these early farming societies. Management of sheep breeding season and feeding in the context of the local environment were decisive in obtaining these livestock products. This work focuses on these aspects through stable isotope and dental microwear analyses on sheep teeth from the cave of Chaves (Huesca, Spain). The results show the existence of “out of season” (autumn/early winter) sheep births in the Early Neolithic, contrasting significantly with spring lambing prevailing in Neolithic husbandries elsewhere in Europe and confirming the antiquity of a western Mediterranean characteristic in this regard. Furthermore, little changes in sheep diet throughout the year have been documented, as far as could be evidenced from stable carbon isotope ratios and dental microwear. Only two individuals showed higher variability in diet on a seasonal scale with possible contribution of C4 plants, possibly from grazing in the valley steppes at lower altitudes. Overall the results suggest good adaptation of sheep to the Pyrenean mid-altitude environment and strong zootechnical knowledge of the earliest shepherds in this area

Neural Modeling and Control of Diesel Engine with Pollution Constraints

The paper describes a neural approach for modelling and control of a turbocharged Diesel engine. A neural model, whose structure is mainly based on some physical equations describing the engine behaviour, is built for the rotation speed and the exhaust gas opacity. The model is composed of three interconnected neural submodels, each of them constituting a nonlinear multi-input single-output error model. The structural identification and the parameter estimation from data gathered on a real engine are described. The neural direct model is then used to determine a neural controller of the engine, in a specialized training scheme minimising a multivariable criterion. Simulations show the effect of the pollution constraint weighting on a trajectory tracking of the engine speed. Neural networks, which are flexible and parsimonious nonlinear black-box models, with universal approximation capabilities, can accurately describe or control complex nonlinear systems, with little a priori theoretical knowledge. The presented work extends optimal neuro-control to the multivariable case and shows the flexibility of neural optimisers. Considering the preliminary results, it appears that neural networks can be used as embedded models for engine control, to satisfy the more and more restricting pollutant emission legislation. Particularly, they are able to model nonlinear dynamics and outperform during transients the control schemes based on static mappings.Comment: 15 page

Dietary traits of the ungulates from the HWK EE site at Olduvai Gorge (Tanzania): Diachronic changes and seasonality

The Oldowan site HWK EE (Olduvai Gorge, Tanzania) has yielded a large fossil and stone tool assemblage at the transition from Lower to Middle Bed II, ∼1.7 Ma. Integrated tooth wear and stable isotope analyses were performed on the three most abundant ungulate taxa from HWK EE, namely Alcelaphini, cf. Antidorcas recki (Antilopini) and Equus oldowayensis (Equini), to infer dietary traits in each taxon. Some paleodietary changes were observed for cf. A. recki and E. oldowayensis based on tooth wear at the transition from the Lemuta to the Lower Augitic Sandstone (LAS) interval within the HWK EE sequence. Stable carbon and oxygen isotope data show no significant changes in bulk diet or hydroclimate between the Lemuta and LAS intervals. The combined tooth wear and stable isotope data suggest similar paleoecological conditions across the two HWK EE intervals, but that differences in vegetation consumed among ungulates may have resulted in changes in dietary niches. Integrating tooth wear and stable isotope analyses permits the characterization of ungulate diets and habitats at HWK EE where C4 dominated and minor mixed C3 and C4 habitats were present. Our results provide a better understanding of the paleoenvironmental conditions of the Lemuta and LAS intervals. The LAS assemblage was mostly accumulated during relatively dry periods at Olduvai Gorge when grasses were not as readily available and grazing animals may have been more nutritionally-stressed than during the formation of the Lemuta assemblage. This helps to contextualize variations in hominin and carnivore feeding behavior observed from the faunal assemblages produced during the two main occupations of the site

Large mammal diets and paleoecology across the Oldowan–Acheulean transition at Olduvai Gorge, Tanzania from stable isotope and tooth wear analyses

The well-dated Pleistocene sediments at Olduvai Gorge have yielded a rich record of hominin fossils, stone tools, and vertebrate faunal remains that, taken together, provide insight to hominin behavior and paleoecology. Since 2008, the Olduvai Geochronology and Archaeology Project (OGAP) has undertaken extensive excavations in Bed II that have yielded a large collection of early Pleistocene stone tools and fossils. The strata of Lower, Middle and Upper Bed II at Olduvai Gorge capture the critical transition from Oldowan to Acheulean technology and therefore provide an opportunity to explore the possible role of biotic and abiotic change during the transition. Here, we analyze newly discovered and existing fossil teeth from Bed II sites using stable isotope and tooth wear methods to investigate the diets of large mammals. We reconstruct the dietary ecology of Bed II mammals and evaluate whether vegetation or hydroclimate shifts are associated with the technological change. Combined isotope and tooth wear data suggest most mammals were C4 grazers or mixed feeders. Carbon isotope data from bulk enamel samples indicate that a large majority of Bed II large mammals analyzed had diets comprising mostly C4 vegetation (>75% of diet), whereas only a small number of individuals had either mixed C3–C4 or mostly C3 diets (<25% C4). Mesowear generally indicates an increase of the abrasiveness of the diet between intervals IIA and IIB (∼1.66 Ma), probably reflecting increased grazing. Microwear indicates more abrasive diets in interval IIA suggesting stronger seasonal differences at the time of death during this interval. This is also supported by the intratooth isotope profiles from Equus oldowayensis molars, which suggest a possible decrease in seasonality across the transition. Neither stable isotope nor tooth wear analyses indicate major vegetation or hydrological change across the Oldowan–Acheulean transition

Examining Neanderthal and carnivore occupations of Teixoneres Cave (Moià, Barcelona, Spain) using archaeostratigraphic and intra-site spatial analysis

Teixoneres Cave (Moia, Barcelona, Spain) is a reference site for Middle Palaeolithic studies of the Iberian Peninsula. The cave preserves an extensive stratigraphic sequence made up of eight units, which is presented in depth in this work. The main goal of this study is to undertake an initial spatial examination of Unit III, formed during Marine Isotope Stage 3, with the aim of understanding spatial organization and past activities developed by Neanderthals and carnivores (bears, hyenas and smaller carnivores). The total sample analysed includes 38,244 archaeological items and 5888 limestone blocks. The application of GIS tools allows us to clearly distinguish three geologically-defined stratigraphic subunits. Unit III has been previously interpreted as a palimpsest resulting from alternating occupation of the cave by human groups and carnivores. The distribution study shows that faunal specimens, lithic artefacts, hearths and charcoal fragments are significantly concentrated at the entrance of the cave where, it is inferred, hominins carried out different activities, while carnivores preferred the sheltered zones in the inner areas of the cave. The results obtained reveal a spatial pattern characterized by fire use related zones, and show that the site was occupied by Neanderthals in a similar and consistent way throughout the (&gt;)7000 years range covered by the analysed subunits. This spatial pattern is interpreted as resulting from repeated short-term human occupations

String Matching and 1d Lattice Gases

We calculate the probability distributions for the number of occurrences $n$ of a given $l$ letter word in a random string of $k$ letters. Analytical expressions for the distribution are known for the asymptotic regimes (i) $k \gg r^l \gg 1$ (Gaussian) and $k,l \to \infty$ such that $k/r^l$ is finite (Compound Poisson). However, it is known that these distributions do now work well in the intermediate regime $k \gtrsim r^l \gtrsim 1$. We show that the problem of calculating the string matching probability can be cast into a determining the configurational partition function of a 1d lattice gas with interacting particles so that the matching probability becomes the grand-partition sum of the lattice gas, with the number of particles corresponding to the number of matches. We perform a virial expansion of the effective equation of state and obtain the probability distribution. Our result reproduces the behavior of the distribution in all regimes. We are also able to show analytically how the limiting distributions arise. Our analysis builds on the fact that the effective interactions between the particles consist of a relatively strong core of size $l$, the word length, followed by a weak, exponentially decaying tail. We find that the asymptotic regimes correspond to the case where the tail of the interactions can be neglected, while in the intermediate regime they need to be kept in the analysis. Our results are readily generalized to the case where the random strings are generated by more complicated stochastic processes such as a non-uniform letter probability distribution or Markov chains. We show that in these cases the tails of the effective interactions can be made even more dominant rendering thus the asymptotic approximations less accurate in such a regime.Comment: 44 pages and 8 figures. Major revision of previous version. The lattice gas analogy has been worked out in full, including virial expansion and equation of state. This constitutes the main part of the paper now. Connections with existing work is made and references should be up to date now. To be submitted for publicatio

Unraveling a Neanderthal palimpsest from a zooarcheological and taphonomic perspective

Practically all archeological assemblages are palimpsests. In spite of the high temporal resolution of Abric Romaní site, level O, dated to around 55 ka, is not an exception. This paper focuses on a zooarcheological and taphonomic analysis of this level, paying special attention to spatial and temporal approaches. The main goal is to unravel the palimpsest at the finest possible level by using different methods and techniques, such as archeostratigraphy, anatomical and taxonomical identification, taphonomic analysis, faunal refits and tooth wear analysis. The results obtained are compared to ethnoarcheological data so as to interpret site structure. In addition, activities carried out over different time spans (from individual episodes to long-term behaviors) are detected, and their spatial extent is explored, allowing to do inferences on settlement dynamics. This leads us to discuss the temporal and spatial scales over which Neanderthals carried out different activities within the site, and how they can be studied through the archeological record

Neanderthal selective hunting of reindeer? The case study of Abri du Maras (south-eastern France)

Fieldwork was supported by the Regional Office of Archaeology Rhône-Alpes, the French Ministry of Culture and Communication and the Ardèche Department through several scientific programs. M.G.Chacon, F. Rivals and E. Allué research are funded by ‘CERCA Programme/Generalitat de Catalunya’. Thanks to Jean-Jacques Hublin, Annabell Reiner and Steven Steinbrenner from the Max Planck Institute (MPI-EVA) for analytical support (isotope analysis). We are grateful to the two anonymous reviewers for their constructive remarks on this manuscript. The English manuscript was edited by L. Byrne, an official translator and native English speaker.Peer reviewedPostprin