Motion Planning for Redundant Manipulators Using a Floating Point Genetic Algorithm

This paper deals with the trajectory planning problem for redundant manipulators. A genetic algorithm (GA) using a floating point representation is proposed to search for the optimal end-effector trajectory for a redundant manipulator. An evaluation function is defined based on multiple criteria, including the total displacement of the end-effector, the total angular displacement of all the joints, as well as the uniformity of Cartesian and joint space velocities. These criteria result in minimized, smooth end-effector motions. Simulations are carried out for path planning in free space and in a workspace with obstacles. Results demonstrate the effectiveness and capability of the proposed method in generating optimized collision-free trajectories.     

Evaluation of different methods of catching anopheline mosquitoes in western Venezuela

During a longitudinal study of vector biology and malaria transmission in western Venezuela, adult mosquitoes were collected by different methods and their efficiency was compared with human landing catches. CDC light traps, a double-net, a calf-baited trap and collection of resting mosquitoes on vegetation were tested. These methods did not prove to be effective substitutes for human landing catches.     

A comparative study of color measurement lntstrumentation

A multiplant Quality Improvement Team [QIT] was firmed to develop and implement an evaluation program for various color measurement .systems as potential replacements for the then-current aging systems. The emphasis qf this article is the analytical methodology utilized to evaluate the various color systems. The evaluation program consisted cf two phases. Phase I was a general overview/review of several systems, while Phase II was an extensive internal comparative evaluation measurement systems. These were Milton-Roy's ColorMate HDS, HunterLab's Ultrascan, Datacolor's CS-5, and BYK-Gardner's The Color Sphere [TCS]. The main comparison criteria were interinstrument agreement [agreement between two instruments ofthe same system], user-friendly software and computer interface capability, vendor amenability to a long-term logistical and maintenance relationship, and price. All systems were evaluated by duplicate measurements on various color tiles, yarns, and polymer flakes-over 1600 measurements on each system. The systems were compared with an instrument matrix, a decision matrix, and a product matrix. The instrument matrix was a comparison qfinstrument parameters, software/math treatments, and economics. The decision matrix was a forced ranking of each system by each criteria category [1–4 scale, with 1 representing the best and 4 representing the worst]. The product matrix accentuated the relative importance ofone criterion category over another by multiplying the forced ranking by the criticality of the category. The criticality of a given category wus determined by consensus within the QIT. Thr combination qf the three matrices allowed the evaluator[.s] t o select the color rneasuremmt system that best satixfied the color measurement needs and requirements of their facility and their products. For this evaluation, all ofthe evaluated systems were superior to the then-current agingsystems. As a result of this methodology, one instrument emerged as clearly superior. © 1994 John Wrley & Sons, Inc.     

Risk from relativistic heavy ions on manned space missions

The risk from exposure to radiation posed to space travelers outside the magnetic shielding provided by the geomagnetosphere will come from two sources: the slowly varying but low intensity high-energy galactic cosmic rays and the more intense predominantly low-energy protons from large solar particle events associated with magnetic disturbances originating sporadically on or within the solar surface during the active period of the 11-year solar cycle. The energy spectra of the protons in solar particle events are quite soft, with large numbers of low-energy protons and a rather steep decrease of the energy spectra with increasing energy. This allows for the possibility to provide, within the space vehicle or habitat, a well-shielded area sometimes called a "storm shelter" or "safe haven" where the travelers could gather during the largest particle events. Intensity risetimes on the order of half an hour or more and overall event durations of 1 to 2 days would make actively seeking a well-shielded shelter for the duration a distinct possibility. The high-energy and penetrating nature and relative constancy of the galactic cosmic rays, on the other hand, do not allow the use of highly shielded areas as a means of protection against them. The first question to answer becomes: what is the risk to human health from the galactic cosmic rays? We need to have a good idea of the answer to this question before we can address the problem of how to best protect human health or, indeed, whether any specific measures need to be taken.     

A Digitally Controlled Stimulator for Neurophysiological Applications

A stimulator circuit is presented which is capable of generating pulse train waveforms suitable for neurophysiological experiments are available, as well as special test conditions such as dishabituation. Digital and linear integrated circuits are used to provide precise control over the stimulus parameters.     

The effect of ozonization on furniture dust: Microbial content and immunotoxicity in vitro

Moisture and mold problems in buildings contaminate also the furniture and other movable property. If cleaning of the contaminated furniture is neglected, it may continue to cause problems to the occupants even after the moisture-damage repairs. The aim of this study was to determine the effectiveness of high-efficiency ozone treatment in cleaning of the furniture from moisture-damaged buildings. In addition, the effectiveness of two cleaning methods was compared. Samples were vacuumed from the padded areas before and after the treatment. The microbial flora and concentrations in the dust sample were determined by quantitative cultivation and QPCR-methods. The immunotoxic potential of the dust samples was analyzed by measuring effects on cell viability and production of inflammatory mediators in vitro. Concentrations of viable microbes decreased significantly in most of the samples after cleaning. Cleaning with combined steam wash and ozonisation was more effective method than ozonising alone, but the difference was not statistically significant. Detection of fungal species with PCR showed a slight but nonsignificant decrease in concentrations after the cleaning. The immunotoxic potential of the collected dust decreased significantly in most of the samples. However, in a small subgroup of samples, increased concentrations of microbes and immunotoxicological activity were detected. This study shows that a transportable cleaning unit with high-efficiency ozonising is in most cases effective in decreasing the concentrations of viable microbes and immunotoxicological activity of the furniture dust. However, the method does not destroy or remove all fungal material present in the dust, as detected with QPCR analysis, and in some cases the cleaning procedure may increase the microbial concentrations and immunotoxicity of the dust.     

An ecological analysis of risk factors for postpartum disorders of Holstein-Friesian cows from thirty-two New York farms

Path analysis and multiple logistic-normal regression were used to model the interrelationships between stated herd management practices and herd 30-d postpartum incidence rates of dystocia, retained placenta, and clinical postpartum metritis, cystic ovary, milk fever, ketosis, left displaced abomasum, and mastitis. Management risk factors were obtained from a personal interview questionnaire. Data were from 2141 multiparous Holstein calvings from May 1981 through April 1982 in 32 commercial herds in the vicinity of Cornell University. Farms where the stated policy was to administer low calcium diets to the dry cows experienced more dystocia and retained placenta. More dystocia was experienced on farms where the stated policy was to administer extra vitamin D to dry cows, where dry cows were housed with the milking cows, or where calving occurred in maternity pens rather than stanchions. There was an increased likelihood of milk fever and left displaced abomasum on farms on which the stated policy was to lead feed. Farms where dairy farmers treated cases of retained placenta had more retained placenta than farms on which the treatment was done by the veterinarian. Farms reporting the practice of feeding the cows to increase their weight during the dry period had increased odds of ketosis.     

Securing the global,remote, mobile user

Electronic commerce is inevitable and will reshape our lives, but before true electronic commerce environments can be realized, it will be necessary to secure your enterprise against outside attacks on its electronic information and provide controls for authorized access to that information. Copyright © 1999 John Wiley & Sons, Ltd.