Remote-Controlled Ambidextrous Robot Hand Concept

In the development of robotic limbs, the side of members is of importance to define the shape of artificial limbs and the range of movements. It is mainly significant tbr biomedical applications concerning patients suffering arms or legs injuries, fn this paper, the concept of an ambidextrous design lbr robot hands is introduced. The fingers can curl in one xvay or another, to imitate either a right hand or a left hand. The advantages and inconveniences of different models have been investigated to optimise the range and the maximum force applied by fingers. Besides, a remote control interthce is integrated to the system, allowing both to send comrnands through internet and to display a video streaming of the ambidextrous hand as feedback. Therefore, a robotic prosthesis could be used for the first time in telerehabilitation. The main application areas targeted are physiotherapy alter strokes or management of phantom pains/br amputees by/earning to control the ambidextrous hand. A client application is also accessible on Facehook social network, making the robotic limb easily reachable for the patients. Additionally the ambidextrous hand can be used tbr robotics research as well as artistic performances.     

A framework to model and manipulate constraints for over-constrained geographic applications

Geographic applications are often over-constrained because of the stakeholders’ multiple requirements and the various spatial, alphanumeric and temporal constraints to be satisfied. In most cases, solving over-constrained problems is based on the relaxation of some constraints according to values of preferences. This article proposes the modelling and the management of constraints in order to provide a framework to integrate stakeholders in the expression and the relaxation of their constraints. Three families of constraints are defined: static vs. dynamic, intra-entity vs. inter-entities and intra-instance vs. inter-instances. Constraints are modelled from two points of view: system with the complexity in time of the different involved operators and user with stakeholders’ preferences. The methodology of constraints relaxation is based on primitive, complex and derived operations. These operations allow a modification of the constraints in order to provide a relevant solution to a simulation. The developed system was applied to reduce the streaming/floods risks in the territory of Pays de Caux (Seine Maritime, France).     

On the Easy Use of Scientific Computing Services for Large Scale Linear Algebra and Parallel Decision Making with the P-Grade Portal

Scientific research is becoming increasingly dependent on the large-scale analysis of data using distributed computing infrastructures (Grid, cloud, GPU, etc.). Scientific computing (Petitet et al. 1999) aims at constructing mathematical models and numerical solution techniques for solving problems arising in science and engineering. In this paper, we describe the services of an integrated portal based on the P-Grade (Parallel Grid Run-time and Application Development Environment) portal (http://www.p-grade.hu) that enables the solution of large-scale linear systems of equations using direct solvers, makes easier the use of parallel block iterative algorithm and provides an interface for parallel decision making algorithms. The ultimate goal is to develop a single sign on integrated multi-service environment providing an easy access to different kind of mathematical calculations and algorithms to be performed on hybrid distributed computing infrastructures combining the benefits of large clusters, Grid or cloud, when needed.     

A generalization of the Curtis–Hedlund theorem

Let A be a set and let G be a group, and equip A^G with its prodiscrete uniform structure. Let τ:A^G→A^G be a map. We prove that τ is a cellular automaton if and only if τ is uniformly continuous and G-equivariant. We also give an example showing that a continuous and G-equivariant map τ:A^G→A^G may fail to be a cellular automaton when the alphabet set A is infinite.     

Mixtures of robust probabilistic principal component analyzers

Mixtures of probabilistic principal component analyzers model high-dimensional nonlinear data by combining local linear models. Each mixture component is specifically designed to extract the local principal orientations in the data. An important issue with this generative model is its sensitivity to data lying off the low-dimensional manifold. In order to address this problem, the mixtures of robust probabilistic principal component analyzers are introduced. They take care of atypical points by means of a long tail distribution, the Student-t. It is shown that the resulting mixture model is an extension of the mixture of Gaussians, suitable for both robust clustering and dimensionality reduction. Finally, we briefly discuss how to construct a robust version of the closely related mixture of factor analyzers.     

Shared WiFi-Communities – User Generated Infrastructure am Beispiel von FON

Shared WiFi-Communities emerge when users share their private Wireless Fidelity with others and in return get free internet access via community members’ internet connection. Supply of wireless capacity and demand for WLAN usually are coordinated by a central authority therewith users can find specific hosts within the community. Initial players that conduct commercial WiFi-Communities established their position in the market. The international market leader with 170,000 hotspots worldwide is FON. The commercial success of shared WiFi-communities (e.g. FON) depends on the adoption of a special router or modifications of the existing WLAN-infrastructure. More importantly it is essential that users permanently offer broadband capacity to the community. Only then net effects can durably generate enhanced usage benefits. A survey of 268 German FON users reveals that the community shows a high level of cohesion. Users barely vary from the default setting concerning shared bandwidth of the router. Additionally most interviewees offer their WLAN 24 hours a day. Despite the possibility of earning money with the wireless capacity most users do not offer bandwidth with a purely economic ambition. Although the market potential of shared WiFi communities appears tremendous legal obstructions and technical restraints exacerbate penetration.     

Thermodynamic measurements of submilligram bulk samples using a membrane-based "calorimeter on a chip"

Calorimetry offers a direct measurement of thermodynamic properties of materials, including information on the energetics of phase transitions. Many materials can only be prepared in thin film or small crystal (submilligram) form, negating the use of traditional bulk techniques. The use of micromachined, membrane-based calorimeters for submilligram bulk samples is detailed here. Numerical simulations of the heat flow for this use have been performed. These simulations describe the limits to which this calorimetric technique can be applied to the realm of small crystals (1-1000 microg). Experimental results confirm the feasibility of this application over a temperature range from 2 to 300 K. Limits on sample thermal conductivity as it relates to the application of the lumped and distributed tau 2 models are explored. For a typical sample size, the simulations yield 2.5% absolute accuracy for the heat capacity of a sample with thermal conductivity as low as 2 x 10(-5) W/cm K at 20 K, assuming a strong thermal link to the device. Silver paint is used to attach (both thermally and physically) the small samples; its heat capacity and reproducibility are discussed. Measurements taken of a submilligram single crystal of cobalt oxide (CoO) compare favorably to the results of a bulk calorimetric technique on a larger sample.     

Ein Steuerverfahren für dreistufige Umrichter am Drehstromnetz

Übersicht Ein neues Raumzeigersteuerschema für dreistufige am Dreiphasennetz arbeitende Pulsumrichter wird vorgestellt. Es basiert auf einem Steuerverfahren für dreiphasige, zweistufige Motorwechselrichter. Die Erweiterung auf dreistufige Pulsumrichter und die dazugehörige Steuertabelle werden gezeigt. Dieses Verfahren erreicht eine symmetrische Spannungsaufteilung auf der Gleichspannungsseite auch bei unsymmetrischer Belastung des Zwischenkreises. Messungen an einem Versuchaaufbau werden gezeigt.

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A control scheme for three-phase, three-level lineside converters

Contents A novel control scheme for three-phase three-level lineside converters operating in the -frame is proposed. It is based on a principle proposed for and approved with three-phase two-level motor inverters. The adaption for three-level inverters is explained and the look-up tables for the switching states are presented. The control scheme is also able of self-balancing the potential of the center-tap of the DC capacitors in case of asymmetric loads. The scheme is realized with an IGBT-converter and measurements are shown.

     

Dynamique des lasers à fibre dopée à I’erbium

The dynamics of the erbium doped fiber laser is analysed both experimentally and theoretically. This laser operates spontaneously in self-pulsing, in sinusoidal or in CW regime. Experiments have allowed to determine the control parameters : the cavity losses, the pumping rate and the ion pairs concentration. An antiphase dynamics is observed when the laser operates simultaneously at 1.55 µn and 1.536 µm. The self-pulsing behavior is attributed to a fast energy transfer which occurs between two neighboring ions (pair induced quenching). A simple model considering the active medium as a mixture of isolated ions and ions pairs is developped and leads to a good qualitative agreement with the experimental results.