Fault detection and isolation in robotic manipulators via neural networks: A comparison among three architectures for residual analysis

In this article we discuss artificial neural networks‐based fault detection and isolation (FDI) applications for robotic manipulators. The artificial neural networks (ANNs) are used for both residual generation and residual analysis. A multilayer perceptron (MLP) is employed to reproduce the dynamics of the robotic manipulator. Its outputs are compared with actual position and velocity measurements, generating the so‐called residual vector. The residuals, when properly analyzed, provides an indication of the status of the robot (normal or faulty operation). Three ANNs architectures are employed in the residual analysis. The first is a radial basis function network (RBFN) which uses the residuals of position and velocity to perform fault identification. The second is again an RBFN, except that it uses only the velocity residuals. The third is an MLP which also performs fault identification utilizing only the velocity residuals. The MLP is trained with the classical back‐propagation algorithm and the RBFN is trained with a Kohonen self‐organizing map (KSOM). We validate the concepts discussed in a thorough simulation study of a Puma 560 and with experimental results with a 3‐joint planar manipulator. © 2001 John Wiley & Sons, Inc.     

Locally perceiving hard global constraints in multi-agent scheduling

We propose how to model enterprise facilities (like factories, warehouses, etc.) in a multi-product production/distribution network, capacity management at those facilities, and scheduling agents which act as enterprise managers, taking decisions that affect the available capacity. A coordination mechanism through which scheduling agents can locally perceive hard global temporal constraints is also proposed.     

Degenerative process and cell death in salivary glands of Rhipicephalus sanguineus (Latreille, 1806) (Acari: Ixodidae) semi-engorged female exposed to the acaricide permethrin

Ticks are ectoparasites of great medical and veterinary importance around the world and synthetic chemicals such as permethrin have been used for their control. This study provides a cytochemistry analysis of both degenerative and cell death processes in salivary glands of the brown dog tick Rhipicephalus sanguineus semi-engorged females exposed to 206, 1,031, and 2,062 ppm of permethrin. The results presented herein demonstrate that permethrin is a potent chemical acaricide that would act on the glandular tissue's morphophysiology in this tick species by eliciting severe changes in the acinus shape, intense vacuolation of the acinar cells' cytoplasm, marked glandular tissue disorganization, culminating in an advanced degenerative stage with consequent formation of many apoptotic bodies (cell death). In addition, permethrin induced major changes in the acinar cells' nucleus, such as a change both in its shape and size, chromatin marginalization, nuclear fragmentation, and appearance of picnotic nuclei, especially when the highest concentrations of the product were used. Thus, permethrin induced early degeneration of this tissue characterized by significant changes in the structure of acinar cells and production of enzymes related to the cell death process, in addition to interfering directly in the genetic material of these cells.     

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.     

Acoustic evaluation and adjustment of an open-plan office through architectural design and noise control

Arranging office space into a single open room offers advantages in terms of easy exchange of information and interaction among coworkers, but reduces privacy and acoustic comfort. Thus, the purpose of this work was to evaluate the acoustic quality of a real open-plan office and to propose changes in the room to improve the acoustic conditioning of this office. The computational model of the office under study was calibrated based on RT and STI measurements. Predictions were made of the RT and STI, which generated the radius of distraction r(D), and the rate of spatial decay of sound pressure levels per distance doubling DL(2) in the real conditions of the office and after modifications of the room. The insertion of dividers between work stations and an increase in the ceiling's sound absorption improved the acoustic conditions in the office under study.     

Morphological characterization of the nymphs Rhipicephalus sanguineus ticks (Latreille, 1806) (Acari: Ixodidae). Description of the testes, integument, Malpighian tubules, and midgut on the detachment day

This study presents the morpho-histological and histochemical characterization of the testes, integument, Malpighian tubules, and midgut of engorged Rhipicephalus sanguineus nymphs on the detachment day, showing the morphological and physiological characteristics to this phase in the life cycle of these individuals. The testis is constituted by germinative cells (only spermatogonia) with large, round-shaped and strongly stained nuclei which are organized into cysts by a thin layer of somatic cells. The integument consists of a cuticle subdivided into epicuticle (lipoprotein) and procuticle (glycoproteic), and a layer of epithelial cells which present glycolipoprotein elements. The procuticle presents two distinct regions: the exocuticle (next to the epicuticle) and the endocuticle (next to the epithelial layer). The Malpighian tubules present a simple epithelium with small flat and/or cubic cells, which form its wall and delimitates a lumen full of lipoprotein material. The midgut consists of an epithelial wall formed by two types of digestive cells, spent cells and empty digest cells, and by generative cells supported by a basal lamina and a thin layer of muscular tissue. This study described the main organs of engorged nymphs of R. sanguineus, to generate information that can help researchers to better understand the biology of these ectoparasites; which is fundamental for the development of compounds that are less aggressive to the environment. In addition, if the immature stages of the ticks are controlled, the number of adult ticks able to cause damages to the animals--and to the man as well--is also under control.     

Construction of baselines for VoIP traffic management on open MANs

In the last century, owing to the constant evolution of technologies telecommunication networks have become increasingly robust, being able to support multiple services. These services are part of the heterogeneous network traffic that can be carried through the Internet. Many of these services, including VoIP, are latency sensitive. In other words, this means that their quality depends directly on the network quality of service. Since users tend to become more sensitive with the instability and unavailability of the network, it is important to improve traffic management. A particular type of data that could be used to improve VoIP traffic management is the Internet Protocol Detail Record (IPDR). IPDRs are tickets created by all VoIP call attempts which contain a group of information related to the call history. Because of its full range of information, IPDRs can be used to create VoIP traffic baselines. This paper presents the development of baselines based on IPDRs to support VoIP traffic management in open‐access Metropolitan Area Networks (MAN). Copyright © 2013 John Wiley & Sons, Ltd.     

Low-cost deployment proposal to urban mobility in smart cities

Rational use of cars in smart cities can represent an economical and cheaper way to decrease the quantity of cars on the roads to better the life quality of the populations. This paper presents a low-cost deployment proposal called “URCa project” to reach these goals and proposes a paradigm change by sharing the cars considering some logistic aspects including car ride mechanism. Technical feasibility to deploy this solution was checked by means of a proof of concept. The concept was proven by passenger counting and license plate that are essential information in this solution were obtained taking photographs, applying two types of recognition algorithms and sending the results to be stored and evaluated by analytic data processes of a transit regulatory agency showing that this project is technically viable. The low-cost solution was justified by a financial analysis based on both costs (URCa solution and a bridge) that has shown a ratio of 1:10,000.