Autonomous robot navigation for automotive assembly task: an industry use-case

Automobile industry faces one of the most flexible productivity caused by the number of customized models variants due to the buyers needs. This fact requires the production system to introduce flexible, adaptable and cooperative with humans solutions. In the present work, a panel that should be mounted inside a van is addressed. For that purpose, a mobile manipulator is suggested that could share the same space with workers helping each other. This paper presents the navigation system for the robot that enters the van from the rear door after a ramp, operates and exits. The localization system is based on 3DOF methodologies that allow the robot to operate autonomously. Real tests scenarios prove the precision and repeatability of the navigation system outside, inside and during the ramp access of the van.This work is financed by the ERDF- European Regional Development Fund through the Operational Programme for Competitiveness and Internationalisation- COMPETE 2020 Programme, and by National Funds through the Portuguese funding agency, FCT- Fundação para a Ciência ea Tecnologia, within project SAICTPAC/0034/2015 - POCI-01- 0145-FEDER-016418.info:eu-repo/semantics/publishedVersio

Resistência da variedade 'vitória Incaper 8142' de café conilon A Meloidogyne exigua.

Entre os fatores limitantes à produtividade da cultura do café estão as doenças, merecendo destaque o nematóide Meloidogyne exigua. Objetivou-se com esse trabalho avaliar o nível de resistência dos 13 clones que compõem a variedade clonal ?Vitória Incaper 8142? de café conilon (Coffea canephora Pierre), a M. exigua. Os 13 clones e mais uma testemunha foram inoculados com 7.000 indivíduos de M. exigua. Após 180 dias de inoculação, foi determinada a população final de nematóides por sistema radicular. Para determinação dos níveis de resistência foram considerados o fator de reprodução e a redução do fator de reprodução. A variedade ?Vitória Incaper 8142? apresentou clones com diferentes níveis de resistência. Os clones 3, 5, 8 e 13 apresentam resistência moderadas nas condições em que o estudo foi realizado e os demais foram suscetíveis

Relativistic Quantum Scattering on a Cone

We study the relativistic quantum mechanical scattering of a bosonic particle by an infinite straight cosmic string, considering the non-minimal coupling between the bosonic field and the scalar curvature. In this case, an effective two-dimensional delta-function interaction takes place besides the usual topological scattering and a renormalization procedure is necessary in order to treat the problem that appears in connection with the delta-function.Comment: 22 pages, LATEX fil

Produção de matéria verde, matéria seca e matéria seca digestível de hibridos de "Sorghum bicolor" com "Sorghum sudanense".

Foram avaliadas as produções de matéria verde (MV), matéria seca (MS) e matéria seca digestível (MSDG) de seis híbridos de "Sorghum bicolor" com "Sorghum sudanense". Foram utilizados dois híbridos comerciais e quatro híbridos experimentais. Utilizou-se um delineamento experimental de blocos ao acaso, com quatro repetições de seis híbridos plantados em duas épocas diferentes e submetidos a três cortes consecutivos. As análises foram feitas utilizando-se o teste SNK (p0,05) entre os híbridos para a produção media de MV e MS, com valores variando de 13,63 a 18,37 e 1,71 a 2,28 t/ha, respectivamente. A média de produção de MV e MS da época 2 foi significativamente (p0,05) entre híbridos, com valores entre 0,96 a 1,28 t/ha. Na época 1 não houve diferença entre híbridos dentro de cada corte. A época 2 apresentou média de produção de MSDG superior à época 1. A produção de MSDG apresentou correlação de 0,99 (p<0,0001) com a produção de MS. Não houve diferença entre os híbridos para as produções totais de MSDG, com valores entre 2,87 a 3,86 t/ha

População de plantas e taxa de rebrota de seis cruzamentos interespecíficos de "Sorghum bicolor" e "Sorghum sudanense".

Foram avaliados o número de plantas e a taxa de rebrota de quatro híbridos experimentais e dois híbridos comerciais de sorgo com capim Sudão. Nos primeiros cortes de ambas as épocas ocorreram diferenças significativas (p<0,05) entre os híbridos quanto ao número de plantas, sendo que no primeiro corte da época 1, o híbrido ATF 54 x CMSXS 912 foi semelhante aos híbridos BRS 800 e CMSXS 156 x CMSXS 912, sendo superior aos demais híbridos. No primeiro corte da segunda época, o híbrido ATF54 x CMSXS 912 apresentou número de plantas semelhantes aos híbridos AG2501C, BRS 800 e CMSXS 157 x CMSXS 912, porém superiores aos híbridos CMSXS 156 x CMSXS 912 e CMSXS 210 x CMSXS 912. Já na segunda época de plantio, os híbridos AG2501C, BRS 800 e ATF 54 x CMSXS 912 tiveram seu número de plantas reduzido a partir do segundo corte, enquanto os híbridos CMSXS 156 X CMSXS 912, CMSXS 157 x CMSXS 912, CMSXS 210 x CMSXS 912 mantiveram o número de plantas até o segundo corte, a partir do qual também houve redução. A média do número de plantas/ha foi significativamente (p<0,05) maior na época 1, com média de 841,66 mil plantas/ha. As taxas médias de rebrota foram inferiores a 1,00, não havendo diferença entre híbridos. Não houve diferença significativa (p<0,05) para as médias de rebrota entre híbridos, com exceção do híbrido AG2501C (testemunha) que, na rebrota 1, apresentou valor superior na época 1. O híbridos analisados apresentam uma boa quantidade de plantas por hectare e ótima taxa de rebrota

Teores de cinzas, cálcio e fósforo de seis híbridos de "Sorghum bicolor" com "Sorghum sudanense" plantados em duas diferentes épocas e cortados em três diferentes períodos.

Foram avaliados o teor de cinzas e a composição mineral de seis híbridos de sorgo desenvolvidos pela EMBRAPA Milho e Sorgo. Utilizou-se um delineamento experimental de blocos ao acaso, utilizando-se quatro repetições por híbrido. Os dados foram submetidos à análise de variância, sendo as interações significativas desdobradas e as médias comparadas utilizando-se o teste de SNK a 5% de probabilidade. Não houve diferença estatística entre as médias dos híbridos para o teor médio de cinzas, sendo que os valores variaram de 6,92 a 7,46 %. Houve diferença significativa (p<0,05) entre as médias dos híbridos para a porcentagem de cálcio e fósforo. O híbrido testemunha BRS 800 apresentou os maiores teores de fósforo. De acordo com os resultados obtidos neste trabalho, conclui-se que os híbridos estudados apresentam boa composição em minerais

Characterization of Yeast Extracellular Vesicles: Evidence for the Participation of Different Pathways of Cellular Traffic in Vesicle Biogenesis

Background: Extracellular vesicles in yeast cells are involved in the molecular traffic across the cell wall. In yeast pathogens, these vesicles have been implicated in the transport of proteins, lipids, polysaccharide and pigments to the extracellular space. Cellular pathways required for the biogenesis of yeast extracellular vesicles are largely unknown. Methodology/Principal Findings: We characterized extracellular vesicle production in wild type (WT) and mutant strains of the model yeast Saccharomyces cerevisiae using transmission electron microscopy in combination with light scattering analysis, lipid extraction and proteomics. WT cells and mutants with defective expression of Sec4p, a secretory vesicleassociated Rab GTPase essential for Golgi-derived exocytosis, or Snf7p, which is involved in multivesicular body (MVB) formation, were analyzed in parallel. Bilayered vesicles with diameters at the 100–300 nm range were found in extracellular fractions from yeast cultures. Proteomic analysis of vesicular fractions from the cells aforementioned and additional mutants with defects in conventional secretion pathways (sec1-1, fusion of Golgi-derived exocytic vesicles with the plasm

The Eleventh and Twelfth Data Releases of the Sloan Digital Sky Survey: Final Data from SDSS-III

The third generation of the Sloan Digital Sky Survey (SDSS-III) took data from 2008 to 2014 using the original SDSS wide-field imager, the original and an upgraded multi-object fiber-fed optical spectrograph, a new near-infrared high-resolution spectrograph, and a novel optical interferometer. All of the data from SDSS-III are now made public. In particular, this paper describes Data Release 11 (DR11) including all data acquired through 2013 July, and Data Release 12 (DR12) adding data acquired through 2014 July (including all data included in previous data releases), marking the end of SDSS-III observing. Relative to our previous public release (DR10), DR12 adds one million new spectra of galaxies and quasars from the Baryon Oscillation Spectroscopic Survey (BOSS) over an additional 3000 deg2 of sky, more than triples the number of H-band spectra of stars as part of the Apache Point Observatory (APO) Galactic Evolution Experiment (APOGEE), and includes repeated accurate radial velocity measurements of 5500 stars from the Multi-object APO Radial Velocity Exoplanet Large-area Survey (MARVELS). The APOGEE outputs now include the measured abundances of 15 different elements for each star. In total, SDSS-III added 5200 deg2 of ugriz imaging; 155,520 spectra of 138,099 stars as part of the Sloan Exploration of Galactic Understanding and Evolution 2 (SEGUE-2) survey; 2,497,484 BOSS spectra of 1,372,737 galaxies, 294,512 quasars, and 247,216 stars over 9376 deg2; 618,080 APOGEE spectra of 156,593 stars; and 197,040 MARVELS spectra of 5513 stars. Since its first light in 1998, SDSS has imaged over 1/3 of the Celestial sphere in five bands and obtained over five million astronomical spectra. © 2015. The American Astronomical Society

Multi-messenger observations of a binary neutron star merger

On 2017 August 17 a binary neutron star coalescence candidate (later designated GW170817) with merger time 12:41:04 UTC was observed through gravitational waves by the Advanced LIGO and Advanced Virgo detectors. The Fermi Gamma-ray Burst Monitor independently detected a gamma-ray burst (GRB 170817A) with a time delay of ~1.7 s with respect to the merger time. From the gravitational-wave signal, the source was initially localized to a sky region of 31 deg2 at a luminosity distance of 40+8-8 Mpc and with component masses consistent with neutron stars. The component masses were later measured to be in the range 0.86 to 2.26 Mo. An extensive observing campaign was launched across the electromagnetic spectrum leading to the discovery of a bright optical transient (SSS17a, now with the IAU identification of AT 2017gfo) in NGC 4993 (at ~40 Mpc) less than 11 hours after the merger by the One- Meter, Two Hemisphere (1M2H) team using the 1 m Swope Telescope. The optical transient was independently detected by multiple teams within an hour. Subsequent observations targeted the object and its environment. Early ultraviolet observations revealed a blue transient that faded within 48 hours. Optical and infrared observations showed a redward evolution over ~10 days. Following early non-detections, X-ray and radio emission were discovered at the transient’s position ~9 and ~16 days, respectively, after the merger. Both the X-ray and radio emission likely arise from a physical process that is distinct from the one that generates the UV/optical/near-infrared emission. No ultra-high-energy gamma-rays and no neutrino candidates consistent with the source were found in follow-up searches. These observations support the hypothesis that GW170817 was produced by the merger of two neutron stars in NGC4993 followed by a short gamma-ray burst (GRB 170817A) and a kilonova/macronova powered by the radioactive decay of r-process nuclei synthesized in the ejecta