How to Control Robots Interacting with Dynamic Environment

The goal of this paper is to shed light on the control problem of constrained robot motion from the aspect of the dynamical nature of the environment with which the robot is in contact. Therefore, the criticism of traditional hybrid control which allows position/force feedback loops to split into independent control with respect to position and force, is not the main point we want to make. Reference to the papers written by the founders of hybrid control and their numerous followers served only to better understand the reason and motivation for suggesting a different approach to control of robots interacting with environment.The paper has a predominantly review character, based on recently published work. It also contains some new, unpublished results in the framework of the unified approach to the position/force control of robots, proposed by the present author and his co-workers. By pointing to the possibility of introducing an environment dynamics in the contact tasks of the machining type, the author emphasizes that the proposed dynamically interactive control can be applied to a completely different class of tasks, in which a contact is made between the system (constructions or structure) and very specific kinds of dynamic environments.     

Quantum phase transitions in 2D antiferromagnets

Quantum Monte Carlo results for the T = 0 order-disorder transition of two-dimensional dimerized quantum Heisenberg antiferromagnets are presented. For a two-layer model, with the dimers having one member on each plane, the finite-size scaling of the staggered structure factor and the staggered susceptibility is consistent with the 3D classical Heisenberg universality class, as required if the transition is described by the 2+1-dimensional non-linear sigma-model. However, for models with the dimers in a single plane, the behavior does not appear to be consistent with this universality class.     

Aging, attention, and intelligence.

The aims of this study were (a) to find out if attentional ability factors that are separate from the well-established ability factors (e.g., fluid intelligence, crystallized intelligence, and short-term acquisition and retrieval function) can be identified, and (b) to establish, through the use of part correlations, whether attentional abilities play a role in the changes in fluid and crystallized intelligence that occur with increasing age. A battery of 36 tests (19 psychometric tests and 17 measures of attentional processes) were given to 100 people, 20 of whom were in each age decade between 20 and 70. Results indicated that three attentional factors—Search, Concentration, and Attentional Flexibility—exist at the primary-ability level and that all three define fluid intelligence at the second-order level. Results also indicate that the decline in fluid intelligence with increasing age disappears if attentional factors are parted-out. Similarly, the increase in crystallized intelligence with increasing age becomes even greater if one controls for attentional processes. I conclude that changes in attentional processes play an important part in changes in human intelligence with age. (PsycINFO Database Record (c) 2010 APA, all rights reserved)     

SurA assists the folding of Escherichia coli outer membrane proteins

Many proteins require enzymatic assistance in order to achieve a functional conformation. One rate-limiting step in protein folding is the cis-trans isomerization of prolyl residues, a reaction catalyzed by prolyl isomerases. SurA, a periplasmic protein of Escherichia coli, has sequence similarity with the prolyl isomerase parvulin. We tested whether SurA was involved in folding periplasmic and outer membrane proteins by using trypsin sensitivity as an assay for protein conformation. We determined that the efficient folding of three outer membrane proteins (OmpA, OmpF, and LamB) requires SurA in vivo, while the folding of four periplasmic proteins was independent of SurA. We conclude that SurA assists in the folding of certain secreted proteins.     

Central poststroke pain and Wallenberg''s lateral medullary infarction: frequency, character, and determinants in 63 patients

BACKGROUND: Questionnaire-based surveys from several countries have consistently detected adverse health associated with home dampness and mould growth. METHODS: To test the validity of questions commonly used to indicate the presence of indoor mould, questionnaires were administered in 403 homes where dust samples were taken for viable fungi and air samples for ergosterol. RESULTS: Geometric mean concentrations of the total viable fungi were 255 (SE 116) x 10(3) CFU/g when mouldy odours were reported and 155 (SE 55) when odours were not reported (P = 0.01). Similarly, reported water damage was associated with a 50% increase (P = 0.06). Geometric mean concentrations of the predominantly indoor-source fungi, Aspergillus plus Penicillium, were twice as high when mould or mildew was reported than when not mentioned (P = 0.01). The presence of reported mould or water damage was unrelated to the presence of detectable levels of ergosterol. There was evidence for reporting bias: in the presence of low concentrations of viable fungi in dust, respondents reporting allergies were more likely to report visible mould growth (odds ratio [OR] = 1.8, 95% confidence interval [CI]: 0.9-3.5, P = 0.10. In the presence of elevated concentrations of dust fungi, respondents who smoked were less likely to report visible mould growth, (OR = 0.4, 95% CI: 0.2-0.7, P = 0.005). CONCLUSIONS: Reported mould, water damage, and mouldy odours were associated with elevated levels of indoor fungi. However, inaccuracy was high and there was evidence of a systematic reporting bias. Future research should concentrate on developing accurate objective measures of exposure to fungi, and then use this information to develop valid questionnaires. Currently, objective measures not questionnaires, are recommended to clarify the health effects of indoor fungi.     

Image compression using wavelet transform and multiresolutiondecomposition

Schemes for image compression of black-and-white images based on the wavelet transform are presented. The multiresolution nature of the discrete wavelet transform is proven as a powerful tool to represent images decomposed along the vertical and horizontal directions using the pyramidal multiresolution scheme. The wavelet transform decomposes the image into a set of subimages called shapes with different resolutions corresponding to different frequency bands. Hence, different allocations are tested, assuming that details at high resolution and diagonal directions are less visible to the human eye. The resultant coefficients are vector quantized (VQ) using the LGB algorithm. By using an error correction method that approximates the reconstructed coefficients quantization error, we minimize distortion for a given compression rate at low computational cost. Several compression techniques are tested. In the first experiment, several 512x512 images are trained together and common table codes created. Using these tables, the training sequence black-and-white images achieve a compression ratio of 60-65 and a PSNR of 30-33. To investigate the compression on images not part of the training set, many 480x480 images of uncalibrated faces are trained together and yield global tables code. Images of faces outside the training set are compressed and reconstructed using the resulting tables. The compression ratio is 40; PSNRs are 30-36. Images from the training set have similar compression values and quality. Finally, another compression method based on the end vector bit allocation is examined.     

Subsecond thermophysics research at the Boris Kidrich Institute Vincha

In the early eighties, at the Boris Kidrich Institute Vincha, a method for measuring specific heat and electrical resistivity of electrical conductors in the millisecond resolution range was developed for measurements from room temperature to 1900 K. Over a period of nearly 10 years, the method was applied to different materials, including pure metals, ferrous, and nickel/ chromium alloys, and to the characterization of candidate materials for thermophysical property reference standards. This paper describes the method and reviews the results obtained in specific heat and electrical resistivity studies of ferromagnetic and other materials. The paper also demonstrates capabilities of the method for describing phase transitions or anomalies in pure metals (Fe, Co, Ni) or alloys (Nichrome, austenitic stainless steel).Paper presented at the Second Workshop on Subsecond Thermophysics, September 20–21, 1990, Torino, Italy.     

Application of substituted N-arylpyrroles in the corrosion protection of aluminium in hydrochloric acid

The inhibiting action of N-arylpyrroles on aluminium in 0.17 mol dm^–3 hydrochloric acid solution, in the temperature range 20–60 °C, was studied using potentiodynamic and electrochemical impedence spectroscopy techniques. The inhibiting efficiency of both investigated compounds 1-(2-fluorophenyl)-2,5-dimethylpyrrole (compound A) and 1-(2-fluorophenyl)-2,5-dimethylpyrrole-3-carbaldehyde (compound B) slightly increases with increasing temperature of the corrosive solution. Inhibitor adsorption on the elecrode surface decreases the apparent activation energy of the hydrogen evolution reaction. Compound A follows the Temkin adsorption isotherm, while its carbaldehyde derivative follows the Langmuir isotherm. The results of the apparent energy of activation and the standard free energy of adsorption point to stronger chemisorption of the compound A. However, due to additional condensation of molecules with carbaldehyde groups on the electrode surface, the carbaldehyde derivative exhibits even better inhibiting efficiency than compound A. The kinetic corrosion parameters, analysed in terms of the impedance data, show a satisfactory agreement with those obtained by the potentiodynamic method.