Magnebike: A magnetic wheeled robot with high mobility for inspecting complex‐shaped structures

This paper describes the Magnebike robot, a compact robot with two magnetic wheels in a motorbike arrangement, which is intended for inspecting the inner casing of ferromagnetic pipes with complex‐shaped structures. The locomotion concept is based on an adapted magnetic wheel unit integrating two lateral lever arms. These arms allow for slight lifting off the wheel in order to locally decrease the magnetic attraction force when passing concave edges, as well as laterally stabilizing the wheel unit. The robot has the main advantage of being compact (180 × 130 × 220 mm) and mechanically simple: it features only five active degrees of freedom (two driven wheels each equipped with an active lifter stabilizer and one steering unit). The paper presents in detail design and implementation issues that are specific to magnetic wheeled robots. Low‐level control functionalities are addressed because they are necessary to control the active system. The paper also focuses on characterizing and analyzing the implemented robot. The high mobility is shown through experimental results: the robot not only can climb vertical walls and follow circumferential paths inside pipe structures but it is also able to pass complex combinations of 90‐deg convex and concave ferromagnetic obstacles with almost any inclination regarding gravity. It requires only limited space to maneuver because turning on the spot around the rear wheel is possible. This high mobility enables the robot to access any location in the specified environment. Finally the paper analyzes the maximum payload for different types of environment complexities because this is a key feature for climbing robots and provides a security factor about the risk of falling and slipping. © 2009 Wiley Periodicals, Inc.     

On the Structure of Amorphous Mesoporous Silica Nanoparticles by Aberration‐Corrected STEM

Mesoporous silica materials have demonstrated a vast spectrum of applications, stimulating an intensive field of study due to their potential use as nanocarriers. Nonetheless, when produced at the nanoscale, their structural characterization is hindered due to the re‐arrangement of the pores. To address this issue, this work combines molecular dynamics simulations with electron microscopy computer simulations and experimental results to provide an insight into the structure of amorphous mesoporous silica nanoparticles. The amorphous silica model is prepared using a simple melt‐quench molecular dynamics method, while the reconstruction of the mesoporous nanoparticles is carried out using a methodology to avoid false symmetry in the final model. Simulated scanning transmission electron microscopy images are compared with experimental images, revealing the existence of structural domains, created by the misalignment of the pores to compensate the surface tension of these spherical nanoparticles.     

A new fuzzy regression algorithm

A new fuzzy regression algorithm is described and compared with conventional ordinary and weighted least-squares and robust regression methods. The application of these different methods to relevant data sets proves that the performance of the procedure described in this paper exceeds that of the ordinary least-squares method and equals and often exceeds that of weighted or robust methods, including the two fuzzy methods proposed previously (Otto, M.; Bandemer, H., Chemom. Intell. Lab. Syst. 1986, 1, 71. Hu, Y.; Smeyers-Verbeke, J.; Massart, D. L. Chemom. Intell. Lab. Syst. 1990, 8, 143). Moreover, we emphasize the effectiveness and the generality of the two new criteria proposed in this paper for diagnosing the linearity of calibration lines in analytical chemistry.     

Three‐dimensional localization for the MagneBike inspection robot

The MagneBike inspection robot is a climbing robot equipped with magnetic wheels. The robot is designed to drive on three‐dimensional (3D) complexly shaped pipe structures; therefore it is necessary to provide 3D visualization tools for the user, who remotely controls the robot out of sight. The localization system is required to provide a 3D map of the unknown environment and the 3D location of the robot in the environment's map. The localization strategy proposed in this paper consists of combining 3D odometry with 3D scan registration. The odometry model is based on wheel encoders and a three‐axis accelerometer. Odometry enables the tracking of the robot trajectory between consecutive 3D scans and is used as a prior for the scan matching algorithm. The 3D scan registration facilitates the construction of a 3D map of the environment and refines the robot position computed with odometry. This paper describes in detail the implementation of the localization concept. It presents the lightweight, small‐sized 3D range finder that has been developed for the MagneBike. It also proposes an innovative 3D odometry model that estimates the local surface curvature to compensate for the absence of angular velocity inputs. The different tools are characterized in detail based on laboratory and field experiments. They show that the localization concepts reliably track the robot moving in the specific application environment. We also describe various techniques to optimize the 3D scanning process, which is time consuming, and to compensate for the identified limitations. These techniques are useful inputs for the future automatization of the robot's control and optimization of its localization process. © 2010 Wiley Periodicals, Inc.     

O3R: Ontology-based mechanism for a human-centered environment targeted at the analysis of navigation patterns

Web Usage Mining (WUM) is the application of data mining techniques over Web server logs in order to extract navigation usage patterns. The analysis of mining patterns for assessing the knowledge they reveal is a critical phase in WUM. The main challenges are: (a) mining algorithms yield a huge number of patterns and (b) there is a significant semantic gap between URLs and events performed by users. In this paper, we describe the pattern analysis mechanisms integrated in O3R (Ontology-based Rules Retrieval and Rummaging), a human-centered environment for the analysis of navigation rules. O3R explores the synergy of mechanisms for retrieving and analyzing patterns. Filtering and clustering allow users to retrieve subsets of patterns with specific characteristics, in order to deal with the large volume of patterns. Rummaging mechanisms are targeted at assessing the meaning and relevance of pattern with regard to the domain, and it is particularly suitable for exploratory analysis. The distinctive feature of O3R is that is dynamically associates meaning to patterns using the concepts and relationships of a domain ontology, as a means of reducing the gap between syntactic URLs and semantic events performed by users. The paper describes the mechanisms in detail, and explores their synergic integration in the O3R prototype. It also reports two case studies that evaluate the use of O3R for the analysis of navigation patterns of a learning site.     

A methodology for the generation of planar models for multibody chain drives

To overcome the difficulty on building manually complex models of chain drives, this work proposes a comprehensive methodology to build multibody models of any general chain drive automatically from a minimal set of data. The proposed procedure also evaluates the initial positions and velocities of all components of the drive that are consistent with the kinematic joints or with the contact pairs used in the model. In this methodology, all links and sprockets are represented by rigid bodies connected to each other either by ideal or by clearance revolute joints. The clearance revolute joint contact is further extended to handle the contact between the chain rollers and the sprocket teeth exact profiles. A suitable cylindrical continuous contact law is applied to describe the interaction on all contact pairs. One of the complexities of the computational study of roller chain drives is the large number of bodies in the system and the dynamics of the successive engagement and disengagement of the rollers with the sprockets. Each time a roller engages or disengages with a sprocket tooth, the number of rigid bodies in contact changes. The search for the contact pairs is recognized as one of the most time consuming task in contact analysis. This work proposes a procedure to specify the contact pairs and their update during the dynamic analysis optimizing the computational efficiency of the contact search. The methodologies adopted result in a general computer program that is applied and demonstrated in a generic chain drive that can be used in industrial machines, vehicle engines or any other type of mechanical system.     

Histology, histochemistry and stereology of the adipose fin of Prochilodus lineatus

The adipose fin is small, nonpared, and usually located medially between the dorsal and caudal fin. Its taxonomic occurrence is very restrict; thus, it represents an important trace for taxon distinction. As it does not play a known vital physiological roll and it is easily removed, it is commonly used in marking and recapture studies. The present study characterizes the adipose fin of Prochilodus lineatus, as it is poorly explored by the literature. The adipose fin consists basically of a loose connective core, covered by a stratified epithelium supported by collagen fibers. At the epithelium, pigmented cells and alarm substance cells are found. Despite the name, adipocytes or lipid droplets are not observed on the structure of the fin.     

Memory Management for Real-Time Java: An Efficient Solution using Hardware Support*

This paper addresses the issue of improving the performance of memory management for real-time Java applications, building upon the real-time specification for Java (RTSJ) from the Real-Time Java Expert Group. In a first step, a collecting dynamic memory solution including both a real-time garbage collector and region-based memory management, is proposed. A thorough analysis of the parameters influencing the performance of write barriers in memory management, together with ways of improvement are then presented. Finally, the implementation of a memory management solution compliant with the RTSJ and integrating the proposed improvements is sketched.     

DISCRETE WAVELET TRANSFORM FOR DENOISING RAMAN SPECTRA OF HUMAN SKIN TISSUES USED IN A DISCRIMINANT DIAGNOSTIC ALGORITHM

In this work, we applied the discrete wavelet transform (DWT) method as a denoising tool for dispersive Raman spectra of skin samples, and we compared the results obtained with the low-order polynomial fitting in a discriminating model based on principal components analysis (PCA). We used a set of 50 Raman spectra of skin tissue fragments diagnosed as normal (N) (25 spectra) and basocellular cell carcinoma (BCC) (25 spectra). A denoising procedure using DWT and its inverse was employed, and the resulting spectra were compared to denoising using low-order polynomial fitting and adjacent averaging smoothing. The tissue spectral profile showed changes in the intensity of bands below 1400 cm^?1 for DWT compared to the denoising by polynomial and smoothing. By applying PCA and Mahalanobis distance in both groups processed, we verified that the filtering method does not alter significantly the discrimination of N and BCC tissues. However, the DWT denoising presented an interesting result, which showed the main components after decomposition of the Raman signal used in the reconstruction.