Optimal Force Generation of 3-RRR Decoupled Planar Robots for Ensuring Unlimited Platform Rotation

International audienceThis paper deals with the optimal dynamics of the 3-RRR decoupled robot in which the linear displacements of the platform are decoupled from its orientation. The particularity of the 3-RRR decoupled robot is that an optimal choice of the leg's geometric parameters allows an unlimited platform rotation, which can be attractive for many industrial applications. However, a singular configuration is necessarily encountered during full platform rotation. In order to generate a stable motion in the presence of singularities, optimal dynamic conditions are disclosed. The suggested optimal conditions ensuring unlimited platform rotation are illustrated and validated by numerical simulations with ADAMS

"Plantar pro gasto": a importância do autoconsumo entre famílias de agricultores do Rio Grande do Sul.

O artigo discute a valoração e importância da produção para o autoconsumo na reprodução social das unidades familiares e caracteriza os alimentos autoconsumidos. Vale-se da pesquisa "Agricultura Familiar, Desenvolvimento Local e Pluriatividade" (UFRGS/UFPel/ CNPq-2003) que propiciou a formação de um banco de dados com informações sobre a dinâmica da agricultura familiar em quatro regiões distintas da geografia gaúcha, suas fontes e tipos de renda, entre estas o autoconsumo. Trazer este debate significa retomar um tema pouco discutido até então, e que, embora marginalizado ou considerado sem importância, desenvolve importante papel como renda não monetária, fortalece a segurança alimentar e adentra esferas da sociabilidade e identidade social. Além da introdução, apresenta-se o papel do autoconsumo na agricultura familiar, o cálculo da produção para o autoconsumo, discussão dos objetivos e resultados, e considerações finais. Os resultados demonstram que a produção para o autoconsumo é uma estratégia recorrente pelas unidades familiares e se diferencia de acordo com a dinâmica da agricultura familiar. Diferença esta expressa em valores relativos (%) e no número de estabelecimentos pertencentes a estratos diferenciados de autoconsumo, e pouco nos tipos de alimentos produzidos para este fim, observando-se uma homogeneidade dos hábitos alimentares

The Genomic Ancestry of Individuals from Different Geographical Regions of Brazil Is More Uniform Than Expected

Based on pre-DNA racial/color methodology, clinical and pharmacological trials have traditionally considered the different geographical regions of Brazil as being very heterogeneous. We wished to ascertain how such diversity of regional color categories correlated with ancestry. Using a panel of 40 validated ancestry-informative insertion-deletion DNA polymorphisms we estimated individually the European, African and Amerindian ancestry components of 934 self-categorized White, Brown or Black Brazilians from the four most populous regions of the Country. We unraveled great ancestral diversity between and within the different regions. Especially, color categories in the northern part of Brazil diverged significantly in their ancestry proportions from their counterparts in the southern part of the Country, indicating that diverse regional semantics were being used in the self-classification as White, Brown or Black. To circumvent these regional subjective differences in color perception, we estimated the general ancestry proportions of each of the four regions in a form independent of color considerations. For that, we multiplied the proportions of a given ancestry in a given color category by the official census information about the proportion of that color category in the specific region, to arrive at a “total ancestry” estimate. Once such a calculation was performed, there emerged a much higher level of uniformity than previously expected. In all regions studied, the European ancestry was predominant, with proportions ranging from 60.6% in the Northeast to 77.7% in the South. We propose that the immigration of six million Europeans to Brazil in the 19th and 20th centuries - a phenomenon described and intended as the “whitening of Brazil” - is in large part responsible for dissipating previous ancestry dissimilarities that reflected region-specific population histories. These findings, of both clinical and sociological importance for Brazil, should also be relevant to other countries with ancestrally admixed populations

Structures of tetrasilylmethane derivatives (XMe2Si)2C(SiMe3)2 (X = H, Cl, Br) in the gas phase, and their dynamic structures in solution

The structures of the molecules (XMe2Si)2C(SiMe3)2, where X = H, Cl, Br, have been determined by gas electron diffraction (GED) using the SARACEN method of restraints, with all analogues existing in the gas phase as mixtures of C1- and C2-symmetric conformers. Variable temperature 1H and 29Si solution-phase NMR studies, as well as 13C NMR and 1H/29Si NMR shift correlation and 1H NMR saturation transfer experiments for the chlorine and bromine analogues, are reported. At low temperatures in solution there appear to be two C1 conformers and two C2 conformers, agreeing with the isolated-molecule calculations used to guide the electron diffraction refinements. For (HMe2Si)2C(SiMe3)2 the calculations indicated six conformers close in energy, and these were modeled in the GED refinement