Trajectory Control for an Innovative Rapid Freeze Prototyping System

2010 ◽  
Author(s):  
Eric Barnett ◽  
Jorge Angeles ◽  
Damiano Pasini ◽  
Pieter Sijpkes
Keyword(s):  
Joint Space ◽  
Trajectory Control ◽  
Trajectory Data ◽  
Data Format ◽  
Specific Data ◽  
Data Manipulation ◽  
Rapid Freeze Prototyping ◽  
Control Scheme ◽  
The Subject ◽  
System Requirements

The subject of this paper is trajectory control for an Adept Cobra 600 robot, which has been retrofitted for additive ice construction. Since this application is quite different from typical SCARA applications, considerable development is needed for trajectory control and data flow. We first outline the trajectory control system requirements, as well as the limitations of the robot hardware. Different control options are proposed and their merits and demerits are discussed; the most suitable scheme is judged to be custom programming in Adept’s V+ programming language, with trajectories expressed in the Cobra 600 joint space. With this control scheme, all system requirements are met, data manipulation is most efficient, and the system is readily adaptable for planned modifications. A specific data format is needed in order to implement this control scheme; we describe how trajectory data produced with our part-slicing algorithm is converted to the format required for the V+ programs.

scholarly journals Techniques for Mitigating the Effects of Smoke Taint While Maintaining Quality in Wine Production: A Review

Molecules ◽  
2021 ◽  
Vol 26 (6) ◽  
pp. 1672
Author(s):  
Ysadora A. Mirabelli-Montan ◽  
Matteo Marangon ◽  
Antonio Graça ◽  
Christine M. Mayr Marangon ◽  
Kerry L. Wilkinson
Keyword(s):  
Global Perspective ◽  
Wine Industry ◽  
Wine Production ◽  
Specific Data ◽  
Main Research ◽  
Initial Severity ◽  
The Subject ◽  
Available Information

Smoke taint has become a prominent issue for the global wine industry as climate change continues to impact the length and extremity of fire seasons around the world. Although the issue has prompted a surge in research on the subject in recent years, no singular solution has yet been identified that is capable of maintaining the quality of wine made from smoke-affected grapes. In this review, we summarize the main research on smoke taint, the key discoveries, as well as the prevailing uncertainties. We also examine methods for mitigating smoke taint in the vineyard, in the winery, and post production. We assess the effectiveness of remediation methods (proposed and actual) based on available research. Our findings are in agreement with previous studies, suggesting that the most viable remedies for smoke taint are still the commercially available activated carbon fining and reverse osmosis treatments, but that the quality of the final treated wines is fundamentally dependent on the initial severity of the taint. In this review, suggestions for future studies are introduced for improving our understanding of methods that have thus far only been preliminarily investigated. We select regions that have already been subjected to severe wildfires, and therefore subjected to smoke taint (particularly Australia and California) as a case study to inform other wine-producing countries that will likely be impacted in the future and suggest specific data collection and policy implementation actions that should be taken, even in countries that have not yet been impacted by smoke taint. Ultimately, we streamline the available information on the topic of smoke taint, apply it to a global perspective that considers the various stakeholders involved, and provide a launching point for further research on the topic.

scholarly journals Association of frailty in hospitalized and institutionalized elderly in the community-dwelling

2016 ◽  
Vol 69 (4) ◽  
pp. 691-696 ◽  
Author(s):  
Suzele Cristina Coelho Fabrício-Wehbe ◽  
Rosalina Aparecida Partezani Rodrigues ◽  
Vanderlei Jose Haas ◽  
Jack Roberto Silva Fhon ◽  
Marina Aleixo Diniz
Keyword(s):  
Demographic Data ◽  
Functional Independence Measure ◽  
Functional Independence ◽  
Sampling Procedure ◽  
Community Dwelling ◽  
Specific Data ◽  
Follow Up Study ◽  
Dual Stage ◽  
The Subject

ABSTRACT Objective: to investigate the association between frailty with hospitalization and institutionalization in a follow-up study of elderly residents. Method: the follow-up study was performed in 2008 and 2013 with elderly of both genders, aged 65 years and older who were living in the community-dwelling. The sampling procedure performed was probabilistic, with dual-stage clustering. In 2008, 515 elderly people were interviewed and, in 2013, 262. We used the socioeconomic and demographic data, self-reported morbidity, specific data of hospitalization and institutionalization. Frailty was measured by the Edmonton Frail Scale (EFS), and functional capacity through the Functional Independence Measure. Results: we found the mean gross EFS score was higher among resident elderly who were hospitalized and institutionalized and was statistically significant in both investigated years. Conclusion: the confirmation of association between frailty and hospitalization and institutionalization reinforces the importance of the subject, and highlights frailty as an important tool for risk estimates for these adverse events.

Kinematics and Dynamics Modeling of a New 4-DOF Cable-Driven Parallel Manipulator

2013 ◽  
pp. 249-265
Author(s):  
Hamoon Hadian ◽  
Yasser Amooshahi ◽  
Abbas Fattah
Keyword(s):  
Dynamic Model ◽  
Parallel Manipulator ◽  
Joint Space ◽  
Kinematics And Dynamics ◽  
Dynamics Modeling ◽  
Kinematic Constraint ◽  
Control Scheme ◽  
Minimum Number ◽  
Dynamical Properties ◽  
Computed Torque

This paper addresses the kinematics and dynamics modeling of a 4-DOF cable-driven parallel manipulator with new architecture and a typical Computed Torque Method (CTM) controller is developed for dynamic model in SimMechanics. The novelty of kinematic architecture and the closed loop formulation is presented. The workspace model of mechanism’s dynamic is obtained in an efficient and compact form by means of natural orthogonal complement (NOC) method which leads to the elimination of the nonworking kinematic-constraint wrenches and also to the derivation of the minimum number of equations. To verify the dynamic model and analyze the dynamical properties of novel 4-DOF cable-driven parallel manipulator, a typical CTM control scheme in joint-space is designed for dynamic model in SimMechanics.

scholarly journals Resolving the relationships of clams and cockles: dense transcriptome sampling drastically improves the bivalve tree of life

2019 ◽  
Vol 286 (1896) ◽  
pp. 20182684 ◽  
Author(s):  
Sarah Lemer ◽  
Rüdiger Bieler ◽  
Gonzalo Giribet
Keyword(s):  
Genetic Markers ◽  
Sister Group ◽  
Tree Of Life ◽  
Taxon Sampling ◽  
Specific Data ◽  
Transcriptomic Data ◽  
Anatomical Data ◽  
The Subject ◽  
Data Matrices

Bivalvia has been the subject of extensive recent phylogenetic work to attempt resolving either the backbone of the bivalve tree using transcriptomic data, or the tips using morpho-anatomical data and up to five genetic markers. Yet the first approach lacked decisive taxon sampling and the second failed to resolve many interfamilial relationships, especially within the diverse clade Imparidentia. Here we combine dense taxon sampling with 108 deep-sequenced Illumina-based transcriptomes to provide resolution in nodes that required additional study. We designed specific data matrices to address the poorly resolved relationships within Imparidentia. Our results support the overall backbone of the bivalve tree, the monophyly of Bivalvia and all its main nodes, although the monophyly of Protobranchia remains less clear. Likewise, the inter-relationships of the six main bivalve clades were fully supported. Within Imparidentia, resolution increases when analysing Imparidentia-specific matrices. Lucinidae, Thyasiridae and Gastrochaenida represent three early branches. Gastrochaenida is sister group to all remaining imparidentians, which divide into six orders. Neoheterodontei is always fully supported, and consists of Sphaeriida, Myida and Venerida, with the latter now also containing Mactroidea, Ungulinoidea and Chamidae, a family particularly difficult to place in earlier work. Overall, our study, by using densely sampled transcriptomes, provides the best-resolved bivalve phylogeny to date.

scholarly journals DMF Data Format Usage for Change Detection

2012 ◽  
Vol 2012 ◽  
pp. 1-9
Author(s):  
Alejandro Cristo ◽  
David Valencia ◽  
Pablo J. Martínez ◽  
Rosa M. Pérez
Keyword(s):  
Remote Sensing ◽  
Data Structure ◽  
Data Fusion ◽  
Change Detection ◽  
Remote Sensing Data ◽  
Great Accuracy ◽  
New Techniques ◽  
Data Format ◽  
Specific Data ◽  
The Earth

Because of the availability of an overwhelming amount of remote sensing data obtained by different instruments, new techniques and applications have been developed in order to pursue the objective of detecting changes that occur in a particular area of the Earth or that affect a large part of the Earth. These studies have used datasets covering different wavelength ranges (visible, IR, radar, and so on), but common to all of them is the necessity for great accuracy to ensure that no bias is introduced due to data correction. Otherwise, a result may be the generation of false positives. Also, many studies have used several different datasets for the same area to detect changes (this is usually called data fusion), but there exists no specific data structure designed for this purpose. In this paper, we propose a data structure to be used for accurate change detection. This structure is transparent to the user and can be used for data fusion to improve those studies.

Robust Variable Structure Control for Free-Floating Space Robot System With Dual-Arms in Joints Space

2009 ◽  
Author(s):  
Xiaoteng Tang ◽  
Li Chen
Keyword(s):  
Variable Structure Control ◽  
Variable Structure ◽  
Joint Space ◽  
Space Robot ◽  
Dynamic Equations ◽  
Robot System ◽  
Structure Control ◽  
Floating Base ◽  
Inertial Parameters ◽  
Control Scheme

In this paper, the kinematics and dynamics of free-floating space robot system with dual-arms are analyzed. It is shown that the dynamic equations of the system are nonlinearly according to inertial parameters. In order to overcome these problems, the system is modeled as under-actuated robot system, and the idea of augmentation approach is adopted. It is demonstrated that the dynamic equations of the system can be linearly depending on a group of inertial parameters. Based on this result, a robust variable structure control scheme for free-floating space robot system with dual-arms with uncertain inertial parameters to track the desired trajectories in joint space is proposed, and a planar space robot system with dual-arms is simulated to verify the proposed control scheme. The advantage of the control scheme proposed is that it requires neither measuring the position, velocity and acceleration of the floating base with respect to the orbit nor controlling the position and attitude angle of the floating base. In addition to this advantage, it is computationally simple, because of choosing the controller robust for the uncertain inertial parameters rather than explicitly estimating them online.

Modeling and Trajectory Control of a Forklift-Like Wheeled Robot

2014 ◽  
Author(s):  
Ho-Hoon Lee
Keyword(s):  
Asymptotic Stability ◽  
Real Time ◽  
Dynamic Model ◽  
Dynamic Models ◽  
Trajectory Control ◽  
Control Law ◽  
Steering Control ◽  
Control Laws ◽  
Control Scheme ◽  
Trajectory Generator

In this paper, kinematic and dynamic models are derived for a forklift-like four-wheeled mobile robot, and then, based on the models, a new trajectory control scheme is designed and evaluated for the robot. The dynamic model, exhibiting non-minimum-phase characteristics, is derived by applying Lagrange’s equations and then the control law is design by using Lyapunov stability theorem and the loop shaping method. The proposed control scheme consists of a trajectory generator, a motion control law, and a steering control law. First, a real-time trajectory generator is designed based on the nonholonomic kinematic constraints of the robot, in which the reference driving speed and time rate of heading angle are computed in real time for a given desired trajectory of the robot. The proposed trajectory generator guarantees a local asymptotic stability. Next, motion and steering control laws are designed based on the dynamic model of the robot. The motion and steering control laws are used to control the robot speed and steering angle. The proposed control guarantees asymptotic stability of the trajectory control while keeping all internal signals bounded. Finally, the validity of the proposed control scheme is shown by realistic computer simulations with one sampling-time delay in the control loop.

scholarly journals Quantum GIS plugin for Czech cadastral data

2012 ◽  
Vol 8 ◽  
pp. 91-98
Author(s):  
Anna Kratochvílová ◽  
Václav Petráš
Keyword(s):  
Information System ◽  
Geographic Information System ◽  
Web Applications ◽  
Geographic Information ◽  
Data Format ◽  
Specific Data ◽  
Cross Platform ◽  
Easy Search ◽  
Exchange Data ◽  
The Way

This paper presents new Quantum GIS plugin for Czech cadastral data and its development. QGIS is a rapidly developing cross-platform desktop Geographic Information System (GIS) released under the GNU GPL. QGIS is written in C++, and uses the Qt library. The plugin is developed in C++, too. The new plugin can work with Czech cadastral data in the new Czech cadastral exchange data format called VFK (or NVF). Data are accessed through VFK driver of the OGR library. The plugin should facilitate the work with cadastral data by easy search and presenting well arranged information. Information is displayed in the way similar to web applications, thus the control is friendly and familiar for users. The plugin supports interaction with map using QGIS functionality and it is able to export various cadastral reports. This paper provides ideas which can be generalized to develop QGIS plugin dealing with specific data.

The Medical Event Vector*)

1979 ◽  
Vol 18 (03) ◽  
pp. 127-131 ◽  
Author(s):  
M. Gleseb
Keyword(s):  
Medical Information ◽  
Clinical Applications ◽  
Medical Information System ◽  
Multidimensional Data ◽  
Storage Unit ◽  
Data Manipulation ◽  
Medical Event ◽  
Sufficient Detail ◽  
Laboratory Results ◽  
The Subject

The Medical Event Vector (MEV) is a vector of nineteen dimensions which serves as the basic storage unit for all medical observations in an automated medical information system. Each MEV dimension stores an attribute of the observation; e.g., date recorded, patient and provider identification, the subject of the observation, the data type, etc. Symptoms, signs, diagnoses, laboratory results, procedures ancl treatments all can be stored as MEVs in identical format. Data can be stored in sufficient detail for clinical applications, ancl can be summarized easily for administrative and research purposes. The use of a single consistent, multidimensional data item for all medical information greatly simplifies database design and facilitates data manipulation, organization, selective retrieval and software development.

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