On the manipulability of dual cooperative robots

The definition of manipulability ellipsoids for dual robot systems is given. A suitable kineto-static formulation for dual cooperative robots is adopted which allows for a global task space description of external and internal forces, and relative velocities. The well known concepts of force and velocity manipulability ellipsoids for a single robot are formally extended and the contributions of the two single robots to the cooperative system ellipsoids are illustrated. Duality properties are discussed. A practical case study is developed

Puncturing maximum rank distance codes

We investigate punctured maximum rank distance codes in cyclic models for bilinear forms of finite vector spaces. In each of these models, we consider an infinite family of linear maximum rank distance codes obtained by puncturing generalized twisted Gabidulin codes. We calculate the automorphism group of such codes, and we prove that this family contains many codes which are not equivalent to any generalized Gabidulin code. This solves a problem posed recently by Sheekey (Adv Math Commun 10:475–488, 2016)

Do metal mixture insults to the soil invisible majority reduce ecosystem service quality?

Non-Peer Reviewe

A Comparison of Assistive Methods for Suturing in MIRS

In Minimally Invasive Robotic Surgery (MIRS) a robot is interposed between the surgeon and the surgical site to increase the precision, dexterity, and to reduce surgeon's effort and cognitive load with respect to the standard laparoscopic interventions. However, the modern robotic systems for MIRS are still based on the traditional telemanipulation paradigm, e.g. the robot behaviour is fully under surgeon's control, and no autonomy or assistance is implemented. In this work, supervised and shared controllers have been developed in a vision-free, human-in-the-Ioop, control framework to help surgeon during a surgical suturing procedure. Experiments conducted on the da Vinci Research Kit robot proves the effectiveness of the method indicating also the guidelines for improving results

Semi-Automated 3D Registration for Heterogeneous Unmanned Robots Based on Scale Invariant Method

This paper addresses the problem of 3D registration of outdoor environments combining heterogeneous datasets acquired from unmanned aerial (UAV) and ground (UGV) vehicles. In order to solve this problem, we introduced a novel Scale Invariant Registration Method (SIRM) for semi-automated registration of 3D point clouds. The method is capable of coping with an arbitrary scale difference between the point clouds, without any information about their initial position and orientation. Furthermore, the SIRM does not require having a good initial overlap between two heterogeneous datasets. Our method strikes an elegant balance between the existing fully automated 3D registration systems (which often fail in the case of heterogeneous datasets and harsh outdoor environments) and fully manual registration approaches (which are labour-intensive). The experimental validation of the proposed 3D heterogeneous registration system was performed on large-scale datasets representing unstructured and harsh outdoor environments, demonstrating the potential and benefits of the proposed 3D registration system in real-world environments

Experimental evaluation of synergy-based in-hand manipulation

In this paper, the problem of in-hand dexterous manipulation has been addressed on the base of postural synergies analysis. The computation of the synergies subspace able to represent grasp and manipulation tasks as trajectories connecting suitable configuration sets is based on the observation of the human hand behavior. Five subjects are required to reproduce themost natural grasping configuration belonging to the considered grasping taxonomy and the boundary configurations for those grasps that admit internal manipulation. The measurements on the human hand and the reconstruction of the human grasp configurations are obtained using a vision-based mapping method that assume the kinematics of the robotic hand, used for the experiments, as a simplified model of the human hand. The analysis to determine the most suitable set of synergies able to reproduce the selected grasps and the relative allowed internal manipulation has been carried out. The grasping and in-hand manipulation tasks have been reproduced bymeans of linear interpolation of the boundary configurations in the selected synergies subspace and the results have been experimentally tested on the UB Hand IV

Nitrogen cycling in root associated soils at bolting, flowering and seed pod filling across eight diverse Brassica napus (canola) genotypes

Non-Peer ReviewedNitrogen (N) mineralization and nitrification can be used predict the amount of N that is available to crops. Brassica napus L. (canola) production is N intensive; therefore, to improve and sustain yields, a better understanding of N cycling patterns for fertilization application is needed. The objective of this study is to examine N cycling after urea fertilization at the three major canola growth stages: bolting, flowering and seed pod filling; and how N cycling may differ between diverse canola lines grown in different soil types. Eight diverse B. napus lines were grown on Dark Brown Chernozemic soil and Black Chernozemic soil in Saskatchewan, Canada. Root-associated soils were collected from each line at bolting, flowering and seed pod filling, and this soil was analyzed for potential nitrification and mineralization, as well as soil nitrate and ammonium content. We predict that potential nitrification will be higher during the bolting and flowering stages of canola growth because the urea fertilizer that was applied to the field would have been converted to nitrate-N, which is plant available. We predict that potential mineralization will be higher during flowering and seed pod filling, because the demand for N to make protein-rich seeds is high enough to deplete much of the inorganic fertilizer N. We also predict that both nitrate-N and ammonium-N will decrease over the growing season, with significant differences between the canola lines and the soil environments. Mixed effect analyses and ANOVA will be used to analyze N cycling in the soil in relation to soil type differences, canola line differences, and growth stage differences. By characterizing soil N processes, this research will advance efforts to understand and improve N uptake for B. napus lines

Immunolocalization of estrogen receptor beta in the epididymis of mature and immature pigs.

A growing body of evidence suggests a role of estrogens in the male reproduction via their specific estrogen receptors (ERalpha/ERbeta). Estrogen receptor distribution along the genital tract tissues has been described in different species, but it is unknown in the pig. Therefore, the aim of the present study was to localize ERbeta in the epididymis of mature and immature pigs (aged 2 and 18 months, respectively). Immunohistochemistry was carried out on paraffin-embedded tissues using a mouse anti-human monoclonal IgG against ERbeta as the primary antibody, and a goat anti-mouse biotinylated IgG as the secondary antibody. Avidin-biotin-peroxidase complex was then applied followed by diaminobenzidine. In immature pigs, the epithelial cells from the caput, corpus and cauda epididymis showed no or very weak immunoreactivity for ERbeta, whereas they were all strongly immmunoreactive in mature pigs. A various intensity of immunostaining from weak to strong in the smooth muscle cells as well as in the connective tissue cells were detected in the epididymis of both, young and adult pigs. This is the first report on the cellular localization of ERbeta protein in porcine epidydimis. The present study demonstrated that (1) irrespectively of the epididymal region, the epithelial cells of caput, corpus and cauda epididymis of mature pigs revealed a strong immunoreactivity for ERbeta, and (2) ERbeta expression in the epididymal epithelium is regulated by puberty. Finally, although the biological activity of ERbeta has not yet been established, the results of the present study suggest its involvement in estrogen modulation of pig epididymal function