Разработка проекта электрической сети н.п. Глинище Хойникского района

In this paper, we present a technique for online generation of dual arm trajectories using constraint based programming based on bound margins. Using this formulation, we take both equality and inequality constraints into account, in a way that incorporates both feedback and feedforward terms, enabling e.g. tracking of timed trajectories in a new way. The technique is applied to a dual arm manipulator performing a bi-manual task. We present experimental validation of the approach, including comparisons between simulations and real experiments of a complex bimanual tracking task. We also show how to add force feedback to the framework, to account for modeling errors in the systems. We compare the results with and without feedback, and show how the resulting trajectory is modified to achieve the prescribed interaction forces.QC 20150630. QC 20200713European Union FP7 project RoboHow.Co

Новые подходы к синтезу гетероциклических производных пиридинкарбоновых кислот, акридина и пиразолона

ХИМИЯ ФАРМАЦЕВТИЧЕСКАЯГЕТЕРОЦИКЛИЧЕСКИЕ СОЕДИНЕНИЯ /ХИМ СИНТПИРИДИНКАРБОНОВЫЕ КИСЛОТЫНИАЦИН /ХИМНИКОТИНОВАЯ КИСЛОТА /ХИМИЗОНИКОТИНОВЫЕ КИСЛОТЫ /ХИМХЛОРАНГИДРИДЫЭФИРЫ СЛОЖНЫЕ /ХИМАЗОМЕТИНЫАКРИДИНЫ /ХИМХИНОЛИНЫ /ХИМПИРАЗОЛОНЫ /ХИМБИОЛОГИЧЕСКАЯ АКТИВНОСТЬОБЗОР ЛИТЕРАТУРЫАктуальной задачей современной фармацевтической химии является разработка новых методов синтеза, изучение химических свойств, а также поиск биологически активных соединений среди производных никотиновой и изоникотиновой кислот. В обзоре рассмотрены синтетические подходы к получению сложных эфиров карбоновых кислот, в том числе никотиновой и изоникотиновой кислот, приведены примеры биологической активности никотиновой и изоникотиновой кислот и их производных. Обсуждены методы синтеза азометинов, замещенных акридинов и пиразолонов, приведены примеры их биологической активности. Представлена перспективная концепция синтеза новых потенциальных лекарственных средств на основе гетероциклических производных никотиновой и изоникотиновой кислот. Рассмотренные в данном обзоре методы функционализации органических соединений применительно к синтезу гетероциклических производных никотиновой и изоникотиновой кислот позволяют получать новые перспективные соединения, потенциально обладающие антибактериальной, противовирусной, фунгицидной и противоопухолевой активностью.The urgent task of modern pharmaceutical chemistry is the development of new methods of synthesis, the study of chemical properties, as well as the search for biologically active compounds among derivatives of nicotinic and isonicotinic acids. The review examines synthetic approaches to the production of carboxylic acid esters including nicotinic and isonicotinic acids, gives examples of the biological activity of nicotinic and isonicotinic acids and their derivatives. The methods for the synthesis of azomethines, substituted acridines and pyrazolones are discussed, examples of their biological activity are given. A promising concept for the synthesis of new potential drugs based on heterocyclic derivatives of nicotinic and isonicotinic acids is presented. The methods of functionalization of organic compounds considered in this review with regard to the synthesis of heterocyclic derivatives of nicotinic and isonicotinic acids make it possible to obtain new promising compounds potentially having antibacterial, antiviral, fungicidal and antitumor activity

Sentinels of Seabed (SoS) indicator: Assessing benthic habitats condition using typical and sensitive species

Indicators are key tools used to assess the ecological status of the environment for ecosystem based management. Anthropogenic disturbances produce changes to habitat condition, which include modifications in species composition and their functions. Monitoring a group of sentinel species (from a taxonomic and functional point of view) provides useful insights into benthic habitat condition. Here, a new indicator, Sentinels of the Seabed (SoS) is proposed to assess state of benthic habitats using “sentinel” species (species which are characteristic of a habitat and sensitive to a given pressure). The selection of these sentinel species has two stages. First, a ‘typical species set’ is computed using intra-habitat similarity and frequency under reference conditions. Second, the ‘sentinel species set’ is generated by selecting the most sensitive species from the typical species set. This selection is made using specific indexes able to assess species sensitivity to a particular pressure. The SoS indicator method was tested on six case studies and two different pressure types (trawling disturbance and pollution), using data from otter trawl, box-corer and Remote Operate Vehicle images. In each scenario, the SoS indicator was compared to the Shannon-Wiener diversity index, Margalef index and total biomass, being the only metric, which showed the expected significant negative response to pressure in all cases. Our results shows that SoS was highly effective in assessing benthic habitats status under both physical and chemical pressures, regardless of the sampling gear, the habitat, or the case study, showing a great potential to be a useful tool in the management of marine ecosystems.Versión del editor2,69

Sex Differences in the Association between Serum Levels of Testosterone and Frailty in an Elderly Population: The Toledo Study for Healthy Aging

BACKGROUND: Age-associated decline in testosterone levels represent one of the potential mechanisms involved in the development of frailty. Although this association has been widely reported in older men, very few data are available in women. We studied the association between testosterone and frailty in women and assessed sex differences in this relationship. METHODS: We used cross-sectional data from the Toledo Study for Healthy Aging, a population-based cohort study of Spanish elderly. Frailty was defined according to Fried's approach. Multivariate odds-ratios (OR) and 95% confidence intervals (CI) associated with total (TT) and free testosterone (FT) levels were estimated using polytomous logistic regression. RESULTS: In women, there was a U-shaped relationship between FT levels and frailty (p for FT(2) = 0.03). In addition, very low levels of FT were observed in women with ≥ 4 frailty criteria (age-adjusted geometric means = 0.13 versus 0.37 in subjects with <4 components, p = 0.010). The association of FT with frailty appeared confined to obese women (p-value for interaction = 0.05).In men, the risk of frailty levels linearly decreased with testosterone (adjusted OR for frailty = 2.9 (95%CI, 1.6-5.1) and 1.6 (95%CI, 1.0-2.5), for 1 SD decrease in TT and FT, respectively). TT and FT showed association with most of frailty criteria. No interaction was found with BMI. CONCLUSION: There is a relationship between circulating levels of FT and frailty in older women. This relation seems to be modulated by BMI. The relevance and the nature of the association of FT levels and frailty are sex-specific, suggesting that different biological mechanisms may be involved

Increased Expression of AQP 1 and AQP 5 in Rat Lungs Ventilated with Low Tidal Volume is Time Dependent

Background and GoalsMechanical ventilation (MV) can induce or worsen pulmonary oedema. Aquaporins (AQPs) facilitate the selective and rapid bi-directional movement of water. Their role in the development and resolution of pulmonary oedema is controversial. Our objectives are to determine if prolonged MV causes lung oedema and changes in the expression of AQP 1 and AQP 5 in rats.Methods25 male Wistar rats were subjected to MV with a tidal volume of 10 ml/kg, during 2 hours (n = 12) and 4 hours (n = 13). Degree of oedema was compared with a group of non-ventilated rats (n = 5). The expression of AQP 1 and AQP 5 were determined by western immunoblotting, measuring the amount of mRNA (previously amplified by RT-PCR) and immunohistochemical staining of AQPs 1 and 5 in lung samples from all groups.ResultsLung oedema and alveolar-capillary membrane permeability did not change during MV. AQP-5 steady state levels in the western blot were increased (p<0.01) at 2 h and 4 h of MV. But in AQP-1 expression these differences were not found. However, the amount of mRNA for AQP-1 was increased at 2 h and 4 h of MV; and for AQP 5 at 4 h of MV. These findings were corroborated by representative immunohistochemical lung samples.ConclusionIn lungs from rats ventilated with a low tidal volume the expression of AQP 5 increases gradually with MV duration, but does not cause pulmonary oedema or changes in lung permeability. AQPs may have a protective effect against the oedema induced by MV

Bimanual folding assembly: Switched control and contact point estimation

Robotic assembly in unstructured environments is a challenging task, due to the added uncertainties. These can be mitigated through the employment of assembly systems, which offer a modular approach to the assembly problem via the conjunction of primitives. In this paper, we use a dual-arm manipulator in order to execute a folding assembly primitive. When executing a folding primitive, two parts are brought into rigid contact and posteriorly translated and rotated. A switched controller is employed in order to ensure that the relative motion of the parts follows the desired model, while regulating the contact forces. The control is complemented with an estimator based on a Kalman filter, which tracks the contact point between parts based on force and torque measurements. Experimental results are provided, and the effectiveness of the control and contact point estimation is shown

Online Contact Point Estimation for Uncalibrated Tool Use

One of the big challenges for robots working outside of traditional industrial settings is the ability to robustly and flexibly grasp and manipulate tools for various tasks. When a tool is interacting with another object during task execution, several problems arise: a tool can be partially or completely occluded from the robot's view, it can slip or shift in the robot's hand - thus, the robot may lose the information about the exact position of the tool in the hand. Thus, there is a need for online calibration and/or recalibration of the tool. In this paper, we present a model-free online tool-tip calibration method that uses force/torque measurements and an adaptive estimation scheme to estimate the point of contact between a tool and the environment. An adaptive force control component guarantees that interaction forces are limited even before the contact point estimate has converged. We also show how to simultaneously estimate the location and normal direction of the surface being touched by the tool-tip as the contact point is estimated. The stability of the the overall scheme and the convergence of the estimated parameters are theoretically proven and the performance is evaluated in experiments on a real robot.QC 20150507</p

Online Kinematics Estimation for Active Human-Robot Manipulation of Jointly Held Objects

This paper introduces a method for estimating the constraints imposed by a human agent on a jointly manipulated object. These estimates can be used to infer knowledge of where the human is grasping an object, enabling the robot to plan trajectories for manipulating the object while subject to the constraints. We describe the method in detail, motivate its validity theoretically, and demonstrate its use in co-manipulation tasks with a real robot.QC 20140320</p

"Open Sesame!" Adaptive Force/Velocity Control for Opening Unknown Doors

The problem of door opening is fundamental for robots operating in domestic environments. Since these environments are generally less structured than industrial environments, several types of uncertainties associated with the dynamics and kinematics of a door must be dealt with to achieve successful opening. This paper proposes a method that can open doors without prior knowledge of the door kinematics. The proposed method can be implemented on a velocity-controlled manipulator with force sensing capabilities at the end-effector. The method consists of a velocity controller which uses force measurements and estimates of the radial direction based on adaptive estimates of the position of the door hinge. The control action is decomposed into an estimated radial and tangential direction following the concept of hybrid force/motion control. A force controller acting within the velocity controller regulates the radial force to a desired small value while the velocity controller ensures that the end effector of the robot moves with a desired tangential velocity leading to task completion. This paper also provides a proof that the adaptive estimates of the radial direction converge to the actual radial vector. The performance of the control scheme is demonstrated in both simulation and on a real robot.QC 20121217</p

"Open Sesame!" Adaptive Force/Velocity Control for Opening Unknown Doors

The problem of door opening is fundamental for robots operating in domestic environments. Since these environments are generally less structured than industrial environments, several types of uncertainties associated with the dynamics and kinematics of a door must be dealt with to achieve successful opening. This paper proposes a method that can open doors without prior knowledge of the door kinematics. The proposed method can be implemented on a velocity-controlled manipulator with force sensing capabilities at the end-effector. The method consists of a velocity controller which uses force measurements and estimates of the radial direction based on adaptive estimates of the position of the door hinge. The control action is decomposed into an estimated radial and tangential direction following the concept of hybrid force/motion control. A force controller acting within the velocity controller regulates the radial force to a desired small value while the velocity controller ensures that the end effector of the robot moves with a desired tangential velocity leading to task completion. This paper also provides a proof that the adaptive estimates of the radial direction converge to the actual radial vector. The performance of the control scheme is demonstrated in both simulation and on a real robot.QC 20121217</p