On the adaptive control of cooperative robots with time‐variant holonomic constraints

In this work, we consider the problem of 2 robots handling a rigid object, while model‐parameter uncertainties are assumed. It is also assumed that the manipulators can push but not pull the object. Several control schemes proposed in the literature attempt to control the position of the object rather than its orientation. However, many industrial tasks require to move and to rotate the object. To this end, we propose an adaptive hybrid position/force control law based on time‐variant holonomic constraints, which allow for object position and orientation control. Our approach guarantees that the force error asymptotically converges to 0; therefore, a stable grasp can be accomplished by means of a proper definition of the desired pushing force. In addition, a dynamic model of the cooperative system based on the load distribution and joint‐space orthogonalization principles is developed. Experimental results are presented to validate the proposed dynamic model and control scheme.     

Uncalibrated visual servoing using the fundamental matrix

This paper describes a new algorithm for visual control of an uncalibrated 3 DOF joint system, using two weakly calibrated fixed cameras. The algorithm estimates on-line the Image Jacobian, a matrix which linearly relates joint velocity and image feature velocity. In our experiments we prove that by using the fundamental matrix, robustness of the estimation in the presence of noise is significantly increased with respect to already existing algorithms in specialized literature.     

Multi‐phosphorylation of the Intrinsically Disordered Unique Domain of c‐Src Studied by In‐Cell and Real‐Time NMR Spectroscopy

Intrinsically disordered regions (IDRs) are preferred sites for post‐translational modifications essential for regulating protein function. The enhanced local mobility of IDRs facilitates their observation by NMR spectroscopy in vivo. Phosphorylation events can occur at multiple sites and respond dynamically to changes in kinase–phosphatase networks. Here we used real‐time NMR spectroscopy to study the effect of kinases and phosphatases present in Xenopus oocytes and egg extracts on the phosphorylation state of the “unique domain” of c‐Src. We followed the phosphorylation of S17 in oocytes, and of S17, S69, and S75 in egg extracts by NMR spectroscopy, MS, and western blotting. Addition of specific kinase inhibitors showed that S75 and S69 are phosphorylated by CDKs (cyclin‐dependent kinases) differently from Cdk1. Moreover, although PKA (cAMP‐dependent protein kinase) can phosphorylate S17 in vitro, this was not the major S17 kinase in egg extracts. Changes in PKA activity affected the phosphorylation levels of CDK‐dependent sites, thus suggesting indirect effects of kinase–phosphatase networks. This study provides a proof‐of‐concept of the use of real‐time in vivo NMR spectroscopy to characterize kinase/phosphatase effects on intrinsically disordered regulatory domains.     

Optimal and heuristic solution methods for a multiprocessor machine scheduling problem

This paper deals with the scheduling of operations on a multiprocessor machine in the context of shoe manufacturing. Multiprocessor machines are composed of several parallel processors. Unlike parallel machines, the entire machine needs to be stopped whenever a single processor needs a setup. Our industrial partner, one of the major winter-shoe manufacturers in Canada, offers a relatively large variety of models. For each of these models, all the sizes proposed by this manufacturer must be produced in various quantities. Our objective is to schedule the production of the required sizes on the machine's different processors in order to minimize the global makespan, which includes both the production time and the set up time. We first present a mathematical formulation of the problem. Then, we introduce a decomposition procedure based on the mathematical model, and we demonstrate that this procedure is very efficient for small- and medium-size instances. We also propose two construction heuristics and two improvement heuristics for larger problems, and we report the results of our extensive computational experiments to demonstrate the quality of the proposed heuristics in terms of reducing production time and computational effort.     

A search space reduction methodology for data mining in large databases

Given the present need for Customer Relationship and the increased growth of the size of databases, many new approaches to large database clustering and processing have been attempted. In this work, we propose a methodology based on the idea that statistically proven search space reduction is possible in practice. Two clustering models are generated: one corresponding to the full data set and another pertaining to the sampled data set. The resulting empirical distributions were mathematically tested to verify a tight non-linear significant approximation.     

Pheromone Response Inhibitors of the Corn Stalk Borer Sesamia nonagrioides. Biological Evaluation and Toxicology

The behavioral activity of some trifluoromethyl ketones (TFMKs) as inhibitors of the pheromone activity of the corn stalk borer Sesamia nonagrioides (Lef.) (Lepidoptera: Noctuidae) is reported. The most closely-related analogue to the pheromone tested, (Z)-11-hexadecenyl trifluoromethyl ketone (Z11-16:TFMK), elicited a significant decrease in the number of male catches in traps baited with mixtures with the pheromone in 1:1 and 10:1 ratios in comparison to the pheromone alone. The E isomer of the analogue as well as two highly hydrated ketones, 3-octylthio-1,1,1-trifluoropropan-2-one (OTFP) and 1,1-difluoropentadecyl trifluoromethyl ketone, were inactive. Conversely, the saturated TFMKs n-dodecyl trifluoromethyl ketone and, particularly, n-hexadecyl trifluoromethyl ketone induced a synergistic effect when mixed with the synthetic pheromone in 10:1 ratio. However, in a wind tunnel these chemicals did not elicit any differential effect on flying moths attracted to a source containing a 10:1 blend of the analogue and the pheromone. In a dual choice bioassay with two dispensers, containing the pheromone alone, and mixtures of Z11-16:TFMK and the pheromone and separated 5 cm apart, males showed no particular preference for either dispenser. The ketone mixture, however, induced moths to execute erratic flights with frequent crosswind counter-turns and intersections with plume boundaries. The total number of contacts with the source were reduced when a control dispenser was paired with a dispenser containing Z11-16:TFMK and pheromone. Z11-16:TFMK and OTFP showed little toxicity on mice with a LD₅₀ of 1 g/kg after the 6th day of treatment. For comparitive purposes, the major component of the pheromone, Z11-16:Ac, displayed a LD₅₀ of 5 g/kg 6 days after application. Our results provide additional information about the activity of the TFMKs, which might be useful for the utilization of these chemicals in future pest control studies.     

Molecular identification of nine commercial flaffish species by polymerase chain reaction-restriction fragment length polymorphism analysis of a segment of the cytochrome b region

Commercial refrigerated or frozen flatfish fillets are sometimes mislabeled, and identification of these mislabeled products is necessary to prevent fraudulent substitution. Identification of nine commercial flatfish species (order Pleuronectiformes), Hippoglossus hippoglossus (halibut), Lepidorhombus boscii (four-spotted scaldfish), Lepidorhombus whiffiagonis (megrin), Platichthys flesus (flounder), Pleuronectes platessa (European plaice), Reinhardtius hippoglossoides (Greenland halibut), Scophthalmus maximus (turbot), Scophthalmus rhombus (brill), and Solea vulgaris (=Solea solea) (sole), was carried out on the basis of the amplification of a 486-bp segment of the mitochondrial genome (tRNA(Glu)/cytochrome b) by using the polymerase chain reaction (PCR) and universal primers. Sequences of PCR-amplified DNA from the flatfish species were used to select eight restriction enzymes (REs). The PCR products were cut with each RE, resulting in species-specific restriction fragment length polymorphism. Seven species groups could be identified by application of the single RE DdeI and six species groups by using HaeIII, HinfI, MaeI, or MboI. Different combinations of only a couple of these REs could unambiguously identify the nine flatfish species. Genetic polymorphisms of the target sequence were examined by comparison with previously published DNA sequences, and the results of this comparison confirmed the usefulness of this technique in distinguishing and genetically characterizing refrigerated or frozen pieces of these nine flatfish species.     

A fiber-optic fluorescence sensor for lithium ion in acetonitrile

A novel fiber-optic fluorescence sensor based on a controlled-release reagent for the determination of lithium ion in organic solvents is proposed. The fluorogenic indicator 2-(2-hydroxyphenyl)benzoxazole is contained in a mini-polyethylene tube as the reagent reservoir and is brought into contact with the analyte solution by diffusion across a poly(vinyl chloride) (PVC) membrane to form a strongly fluorescent complex at the membrane/solution interface. The fluorescence signals produced are measured via two joined optical fibers positioned closely to the backside of the PVC membrane for light illumination and collection. The sensor is useful for measuring Li+ at concentrations in acetonitrile ranging from 1.0 x 10(-6) to 1.0 x 10(-2) M with a detection limit of 3.0 x 10(-7) M. The steady-state response can be reached within seconds, and the signal changes are fully reversible. The sensor shows minimal interference effects from other alkali metal and alkaline earth metal cations and has good stability and durability when stored in acetonitrile solutions.     

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