Improving the forward kinematics of cable-driven parallel robots through cable angle sensors

This paper presents a sensor fusion method that aims at improving the accuracy of cable-driven planar parallel mechanisms (CDPMs) and simplifying the kinematic resolution. While the end-effector pose of the CDPM is usually obtained with the cable lengths, the proposed method combines the cable length measurement with the cable angle by using a data fusion algorithm. This allows for a resolution based on the loop closure equations and a weighted least squares method. The paper first presents the resolution of the forward kinematics for planar parallel mechanisms using cable angle only. Then, the proposed sensor fusion scheme is detailed. Finally, an experiment comparing the different procedures for obtaining the pose of the CDPM is carried out, in order to demonstrate the efficiency of the proposed fusion method

Workspace Analysis of a 4 Cable-Driven Spatial Parallel Robot

International audienceThis paper presents the static equilibrium workspace of an under-constrained cable-driven robot with four cables taking into account the forces and the moments due to the forces acting on the moving platform. The problem is formulated as a non-linear optimization problem with maintaining static equilibrium as the objective function. The simulations are done using MATLAB. The maximum force on the cables and tilting angle of the platform are used to define the feasible static equilibrium workspace and the results obtained are used to finalize the design of the collaborative cable-driven robot to be installed in existing production lines for the agile handling of parts in a manufacturing industry

Device-independent quantum key distribution secure against collective attacks

Device-independent quantum key distribution (DIQKD) represents a relaxation of the security assumptions made in usual quantum key distribution (QKD). As in usual QKD, the security of DIQKD follows from the laws of quantum physics, but contrary to usual QKD, it does not rely on any assumptions about the internal working of the quantum devices used in the protocol. We present here in detail the security proof for a DIQKD protocol introduced in [Phys. Rev. Lett. 98, 230501 (2008)]. This proof exploits the full structure of quantum theory (as opposed to other proofs that exploit the no-signalling principle only), but only holds again collective attacks, where the eavesdropper is assumed to act on the quantum systems of the honest parties independently and identically at each round of the protocol (although she can act coherently on her systems at any time). The security of any DIQKD protocol necessarily relies on the violation of a Bell inequality. We discuss the issue of loopholes in Bell experiments in this context.Comment: 25 pages, 3 figure

Some behavioral aspects of energy descent: How a biophysical psychology might help people transition through the lean times ahead

This article is part of the Research Topic: Nature and environment: The psychology of its benefits and its protection.We may soon face biophysical limits to perpetual growth. Energy supplies may tighten and then begin a long slow descent while defensive expenditures rise to address problems caused by past resource consumption. The outcome may be significant changes in daily routines at the individual and community level. It is difficult to know when this scenario might begin to unfold but it clearly would constitute a new behavioral context, one that the behavioral sciences least attends to. Even if one posits a less dramatic scenario, people may still need to make many urgent and perhaps unsettling transitions. And while a robust response would be needed, it is not at all clear what should be the details of that response. Since it is likely that no single response will fix things everywhere, for all people or for all time, it would be useful to conduct many social experiments. Indeed, a culture of small experiments should be fostered which, at the individual and small group level, can be described as behavioral entrepreneurship. This may have begun, hidden in plain sight, but more social experiments are needed. To be of help, it may be useful to both package behavioral insights in a way that is practitioner-oriented and grounded in biophysical trends and to propose a few key questions that need attention. This paper begins the process of developing a biophysical psychology, incomplete as it is at this early stage.Peer Reviewedhttp://deepblue.lib.umich.edu/bitstream/2027.42/109261/1/De Young, R. (2014) Some behavioral aspects of energy descent, How a biophysical psychology might help people transition through the lean times ahead, Frontiers in Psychology, 5, 1255.pdfDescription of De Young, R. (2014) Some behavioral aspects of energy descent, How a biophysical psychology might help people transition through the lean times ahead, Frontiers in Psychology, 5, 1255.pdf : Main articl

Alterations to Melanocortinergic, GABAergic and Cannabinoid Neurotransmission Associated with Olanzapine-Induced Weight Gain

Background/Aim: Second generation antipsychotics (SGAs) are used to treat schizophrenia but can cause serious metabolic side-effects, such as obesity and diabetes. This study examined the effects of low to high doses of olanzapine on appetite/ metabolic regulatory signals in the hypothalamus and brainstem to elucidate the mechanisms underlying olanzapineinduced obesity. Methodology/Results: Levels of pro-opiomelanocortin (POMC), neuropeptide Y (NPY) and glutamic acid decarboxylase (GAD65, enzyme for GABA synthesis) mRNA expression, and cannabinoid CB1 receptor (CB1R) binding density (using [ 3 H]SR-141716A) were examined in the arcuate nucleus (Arc) and dorsal vagal complex (DVC) of female Sprague Dawley rats following 0.25, 0.5, 1.0 or 2.0 mg/kg olanzapine or vehicle (36/day, 14-days). Consistent with its weight gain liability, olanzapine significantly decreased anorexigenic POMC and increased orexigenic NPY mRNA expression in a dose-sensitive manner in the Arc. GAD65 mRNA expression increased and CB1R binding density decreased in the Arc and DVC. Alterations to neurotransmission signals in the brain significantly correlated with body weight and adiposity. The minimum dosage threshold required to induce weight gain in the rat was 0.5 mg/kg olanzapine. Conclusions: Olanzapine-induced weight gain is associated with reduced appetite-inhibiting POMC and increased NPY. This study also supports a role for the CB1R and GABA in the mechanisms underlying weight gain side-effects, possibly b