Study on antibiotic residues in Rainbow trout (Oncorhynchus mykiss) in Tabriz market

Vast application of the antibiotic drugs in animals without due attention to withdrawal times necessitates quality control of food stuff in terms of antibiotics' residues. Antibiotic residues in food stuff cause bacterial resistance, allergic reactions, toxicity, carcinogenic effects and change of natural micro flora of intestine in consumers. So, the aim of the present study is detection of antibiotic residues and its contamination rate in cultured rainbow trout. Four-plate test is one of the microbiological methods of detecting antibiotic residues in food stuff, which is based on inhibition zone formation around the sample in four culture media with different pH and test bacteria. For this purpose, 45 samples from skin and meat of rainbow trout fish were obtained randomly from fish market of Tabriz city. After different phases of four-plate test, from a total of 180 skin samples, 13 cases (7.22%) and from a total of 180 meat samples, 18 cases (10%) were diagnosed to be contaminated to antibiotic residues. The results showed that contamination rate of two tissues, (meat and skin), have no significant difference (P>0.05), and the highest contamination to antibiotic residues were related to penicillin and macrolides groups (P<0.05)

Compliant control of Uni/ Multi- robotic arms with dynamical systems

Accomplishment of many interactive tasks hinges on the compliance of humans. Humans demonstrate an impressive capability of complying their behavior and more particularly their motions with the environment in everyday life. In humans, compliance emerges from different facets. For example, many daily activities involve reaching for grabbing tasks, where compliance appears in a form of coordination. Humans comply their handsâ motions with each other and with that of the object not only to establish a stable contact and to control the impact force but also to overcome sensorimotor imprecisions. Even though compliance has been studied from different aspects in humans, it is primarily related to impedance control in robotics. In this thesis, we leverage the properties of autonomous dynamical systems (DS) for immediate re-planning and introduce active complaint motion generators for controlling robots in three different scenarios, where compliance does not necessarily mean impedance and hence it is not directly related to control in the force/velocity domain. In the first part of the thesis, we propose an active compliant strategy for catching objects in flight, which is less sensitive to the timely control of the interception. The soft catching strategy consists in having the robot following the object for a short period of time. This leaves more time for the fingers to close on the object at the interception and offers more robustness than a âhardâ catching method in which the hand waits for the object at the chosen interception point. We show theoretically that the resulting DS will intercept the object at the intercept point, at the right time with the desired velocity direction. Stability and convergence of the approach are assessed through Lyapunov stability theory. In the second part, we propose a unified compliant control architecture for coordinately reaching for grabbing a moving object by a multi-arm robotic system. Due to the complexity of the task and of the system, each arm complies not only with the objectâs motion but also with the motion of other arms, in both task and joint spaces. At the task-space level, we propose a unified dynamical system that endows the multi-arm system with both synchronous and asynchronous behaviors and with the capability of smoothly transitioning between the two modes. At the joint space level, the compliance between the arms is achieved by introducing a centralized inverse kinematics (IK) solver under self-collision avoidance constraints; formulated as a quadratic programming problem (QP) and solved in real-time. In the last part, we propose a compliant dynamical system for stably transitioning from free motions to contacts. In this part, by modulating the robot's velocity in three regions, we show theoretically and empirically that the robot can (I) stably touch the contact surface (II) at a desired location, and (III) leave the surface or stop on the surface at a desired point

Multi-Arm Self-Collision Avoidance: A Sparse Solution for a Big Data Problem.

In this work, we propose a data-driven approach for real-time self-collision avoidance in multi-arm systems. The approach consists of modeling the regions in joint-space that lead to collisions via a Self-Collision Avoidance (SCA) boundary and use it as a constraint for a centralized Inverse Kinematics (IK) solver. This problem is particularly challenging as the dimensionality of the joint-configurations is in the order of millions (for a dual-arm system), while the IK solver must run within a control loop of 2ms. Hence, an extremely sparse solution is needed for this big data problem. The SCA region is modeled through a sparse non-linear kernel classification method that yields a runtime of less than 2ms (on a single thread CPU process) and has a False Positive Rate (FPR)=1.5%. Code for generating multi-arm datasets and learning the sparse SCA boundary are available at: https://github.com/nbfigueroa/SCA-Boundary-Learnin

A Dynamical System Based Approach for Controlling Robotic Manipulators During Non-contact/Contact Transitions

Many daily life tasks require precise control when making contact with surfaces. Ensuring a smooth transition from free motion to contact is crucial as incurring a large impact force may lead to unstable contact with the robot bouncing on the surface, i.e. chattering. Stabilizing the forces at contact is not possible as the impact lasts less than a millisecond, leaving no time for the robot to react to the impact force. We present a strategy in which the robot adapts its dynamic before entering into contact. The speed is modulated so as to align with the surface. We leverage the properties of autonomous dynamical systems for immediate re-planning and handling unforeseen perturbations and exploit local modulations of the dynamics to control for the smooth transitions at contact. We show theoretically and empirically that by using the modulation framework, the robot can (I) stably touch the contact surface, even when the surface’s location is uncertain, (II) at a desired location, and finally (III) leave the surface or stop on the surface at a desired point

Stable Transitions from Free-space to Contact: A Dynamical System Based Approach

In this work, we propose a dynamical system based strategy for establishing a stable contact with convex shaped surfaces during non-contact/contact scenarios. A contact is called stable if the impact occurs only once and the robot remains in contact with the surface after the impact. Realizing a stable contact is particularly challenging as the contact leaves a very short time-window for the robot to react properly to the impact force. In this paper, we propose a strategy consisting of locally modulating the robot’s motion in a way that it aligns with the surface before making the contact. We show theoretically and empirically that by using the modulation framework, the contact is stable and the robot stays in contact with the surface after the first impact

A Dynamical System Approach for Catching Softly a Flying Object: Theory and Experiment

Mirrazavi Salehian SS, Khoramshahi M, Billard A. A Dynamical System Approach for Catching Softly a Flying Object: Theory and Experiment. IEEE Transaction on Robotics. Accepted

Coordinated multi-arm motion planning: Reaching for moving objects in the face of uncertainty (RSS 2016 Best Student Paper Award)

Coordinated control strategies for multi-robot systems are necessary for tasks that cannot be executed by a single robot. This encompasses tasks where the workspace of the robot is too small or where the load is too heavy for one robot to handle. Using multiple robots makes the task feasible by extending the workspace and/or increase the payload of the overall robotic system. In this paper, we consider two instances of such task: a co-worker scenario in which a human hands over a large object to a robot; intercepting a large flying object. The problem is made difficult as the pick-up/intercept motions must take place while the object is in motion and because the object's motion is not deterministic. The challenge is then to adapt the motion of the robotic arms in coordination with one another and with the object. Determining the pick-up/intercept point is done by taking into account the workspace of the multi-arm system and is continuously recomputed to adapt to change in the object's trajectory. We propose a dynamical systems (DS) based control law to generate autonomous and synchronized motions for a multi-arm robot system in the task of reaching for a moving object. We show theoretically that the resulting DS coordinates the motion of the robots with each other and with the object, while the system remains stable. We validate our approach on a dual-arm robotic system and demonstrate that it can re-synchronize and adapt the motion of each arm in synchrony in a fraction of seconds, even when the motion of the object is fast and not accurately predictable

Coordinated multi-arm motion planning: Reaching for moving objects in the face of uncertainty

Sina Mirrazavi Salehian S, Figueroa N, Billard A. Coordinated multi-arm motion planning: Reaching for moving objects in the face of uncertainty. In: Proceedings of Robotics: Science and Systems. AnnArbor, Michigan; 2016