Robotic Tasks Using Path Control: Two Case Studies

Some robotic tasks usually achieved through motion control – trajectory tracking control – can be also well performed by resorting to path control philosophy. This is the case for applications where motion coordination among the robot joints is more important than joint tracking of a timed desired reference. This paper illustrates this concept by means of two academic case studies – theory and experiments – using a two degrees-of-freedom direct-drive revolute arm.     

Control of a Robotic Wheelchair Using Recurrent Networks

This paper describes an adaptive neural control system for governing the movements of a robotic wheelchair. It presents a new model of recurrent neural network based on a RBF architecture and combining in its architecture local recurrence and synaptic connections with FIR filters. This model is used in two different control architectures to command the movements of a robotic wheelchair. The training equations and the stability conditions of the control system are obtained. Practical tests show that the results achieved using the proposed method are better than those obtained using PID controllers or other recurrent neural networks models     

Visual Navigation in Natural Environments: From Range and Color Data to a Landmark-Based Model

This paper concerns the exploration of a natural environment by a mobile robot equipped with both a video color camera and a stereo-vision system. We focus on the interest of such a multi-sensory system to deal with the navigation of a robot in an a priori unknown environment, including (1) the incremental construction of a landmark-based model, and the use of these landmarks for (2) the 3-D localization of the mobile robot and for (3) a sensor-based navigation mode.For robot localization, a slow process and a fast one are simultaneously executed during the robot motions. In the modeling process (currently 0.1 Hz), the global landmark-based model is incrementally built and the robot situation can be estimated from discriminant landmarks selected amongst the detected objects in the range data. In the tracking process (currently 4 Hz), selected landmarks are tracked in the visual data; the tracking results are used to simplify the matching between landmarks in the modeling process.Finally, a sensor-based visual navigation mode, based on the same landmark selection and tracking, is also presented; in order to navigate during a long robot motion, different landmarks (targets) can be selected as a sequence of sub-goals that the robot must successively reach.     

Visible and near-infrared spectroscopy as a technique for screening the inorganic arsenic content in the red crayfish (procambarus clarkii Girard)

The potential of near-infrared spectroscopy (NIRS) for screening the inorganic arsenic (i-As) content in the red crayfish (Procambarus clarkii Girard 1852) was assessed. Sixty-two samples belonging to this species were freeze-dried and scanned by NIRS. The i-As contents of the samples were obtained by acid digestion-solvent extraction followed by hydride generation atomic absorption spectrometry and were regressed against different spectral transformations by modified partial least-squares (MPLS) regression. Second derivative transformation equations of the raw optical data, previously standardized by applying standard normal variate and de-trending algorithms, resulted in a coefficient of determination in the cross-validation (1-VR) of 0.84, indicative of equations of good quantitative information. The standard error of cross-validation to standard deviation ratio, shown by the second derivative equation, was similar to those obtained for other trace metal calibrations reported in NIRS reflectance. Spectral information related to chromophores and lipids of the red crayfish tissues, and also the plant matter contained in their stomachs, were the main organic components used by MPLS for modeling the selected prediction equation. This pioneering use of NIRS to predict the i-As content in red crayfish represents an important savings in time and cost of analysis.     

The burden of injuries in the Philippines: implications for national research policy

Injuries cause 10% of the mortality and 15% of disability worldwide. However, there is a paucity of data on injuries in the developing world where two-thirds of all injury deaths occur. This is the first published report characterizing the overall problem of injuries in the Philippines, a developing country in southeast Asia. This report defines the burden of injuries in the Philippines and identifies priority areas for the national health research agenda. A systematic review of 35 years of published and unpublished data on injuries in the Philippines (1960–1995) was conducted. Injury fatality rates increased by 196% from 14.3 per 100,000 in 1960 to 42.3 per 100,000 in 1995, and one in 11 deaths in the Philippines are due to injuries. Intentional injuries account for 48% of all injury deaths and motor vehicle crashes for 15%. For 15–44 year old males, injuries account for 42% of all deaths, 67% of which are intentional. The proportion of all deaths attributable to intentional injuries has increased by 925% and that of motor vehicle crashes by 600% from 1960 to 1995. Improvements in injury surveillance and documentation of non-fatal injury outcomes are needed. Research into risk factors and potential interventions for the prevention of intentional injuries should be a priority in the Philippines.     

Fourier transform infrared-probed O(3P) microreactor: demonstration with ethylene reactions in argon matrix

To demonstrate the development of an oxygen atom microreactor in the form of liquid-helium-cooled solid argon matrix deposited on an infrared (IR) window, the oxidation of ethylene by mobile O atoms has been investigated. O atom diffusion through the argon matrix is confirmed and used to examine ethylene-oxygen atom reactions. In a bench-scale matrix isolation system probed with a Fourier transform infrared (FT-IR) spectrometer, matrices of solid Ar at 8-10 K doped with NO2 and ethylene have been prepared on a ZnSe window within an evacuated cryostat. The matrices have been photolyzed using 350-450 nm photons, and the reaction products resulting from the reaction of O(3P), one of the photolysis products of NO2, with ethylene have been identified using FT-IR and a Gaussian 98W simulation program. These products include oxirane, acetaldehyde, ethyl nitrite radical, and ketene. The temperature effect in the range of 10-30 K on the products formed has also been investigated. The reaction mechanisms are discussed and the viability of the solid Ar matrix being a low temperature microreactor to examine reaction mechanisms of mobile oxygen atoms is elaborated.     

Input-output statistical independence in divisive normalization models of V1 neurons

Simoncelli and co-workers have proposed statistically-derived nonlinear divisive normalization models of the primary visual cortex (V1) that are consistent with the hypothesis that sensory systems are adapted to the signals to which they are exposed. In this paper, we present a more rigorous mathematical formulation and analysis of these statistically-derived models in terms of mutual information as a metric for statistical independence. We prove that the ad hoc choice of divisive normalization parameters proposed by Simoncelli and co-workers does not guarantee statistical independence between the output responses, but interestingly such choice does guarantee that each output response is statistically independent of almost all the linear inputs. This holds for the two different models of natural image statistics analysed theoretically, and is consistent with empirical results obtained on a set of natural images.     

Upscaling and automation of electrophysiology: toward high throughput screening in ion channel drug discovery

Effective screening of large compound libraries in ion channel drug discovery requires the development of new electrophysiological techniques with substantially increased throughputs compared to the conventional patch clamp technique. Sophion Bioscience is aiming to meet this challenge by developing two lines of automated patch clamp products, a traditional pipette-based system called Apatchi-1, and a silicon chip-based system QPatch. The degree of automation spans from semi-automation (Apatchi-1) where a trained technician interacts with the system in a limited way, to a complete automation (QPatch 96) where the system works continuously and unattended until screening of a full compound library is completed. The performance of the systems range from medium to high throughputs.     

Surfactant to dye binding degree-based methodology for the determination of ionic amphiphilic compounds

A new analytical measurement parameter based on the effect of amphiphilic substances on the degree of binding of a surfactant to dye molecules, which induce the formation of surfactant premicellar aggregates, is presented. The theory for dye-surfactant intermolecular interactions in mixed surfactant systems, which assumes a mononuclear model for the formation of dye-induced premicellar aggregates, has been used to derive an expression that provides linear calibrations for the determination of amphiphilic compounds. The dye-surfactant interactions involved have been investigated, and the variables affecting the measurement analytical parameter have been discussed. The analytical applicability of the surfactant-dye binding degree method is demonstrated by quantifying major anionic surfactants at the nanograms-per-milliliter level and determining the total concentration of these amphiphilic substances in sewage samples (average recoveries ranged from 98 to 102%).