Maintaining strong mutual visibility of an evader moving over the reduced visibility graph

In this paper, we address the problem of determining whether a mobile robot, called the pursuer, is able to maintain strong mutual visibility (a visibility notion between regions over a convex partition of the environment) of an antagonist agent, called the evader. We frame the problem as a non cooperative game. We consider the case in which the pursuer and the evader move at bounded speed, traveling in a known polygonal environment with or without holes, and in which there are no restrictions as to the distance that might separate the agents. Unlike our previous efforts (Murrieta-Cid et al. in Int J Robot Res 26:233–253, 2007), we give special attention to the combinatorial problem that arises when searching for a solution through visiting several locations in an environment with obstacles. In this paper we take a step further, namely, we assume an antagonistic evader who moves continuously and unpredictably, but with a constraint over its set of admissible motion policies, as the evader moves in the shortest-path roadmap, also called the reduced visibility graph (RVG). The pursuer does not know which among the possible paths over the RVG the evader will choose, but the pursuer is free to move within all the environment. We provide a constructive method to solve the decision problem of determining whether or not the pursuer is able to maintain strong mutual visibility of the evader. This method is based on an algorithm that computes the safe areas (areas that keep evader surveillance) at all times. We prove decidability of this problem, and provide a complexity measure to this evader surveillance game; both contributions hold for any general polygonal environment that might or not contain holes. All our algorithms have been implemented and we show simulation results.     

A PC-Based Simulator/Controller/Monitor Software for a Generic 6-DOF Manipulator

General form application is a very important issue in industrial design. Prototyping a design helps in determining system parameters, ranges and in structuring better systems. Robotics is one of the industrial design fields in which prototyping is crucial for improved functionality. Developing an environment that enables optimal and flexible design using reconfigurable links, joints, actuators and sensors is essential for using robots in the education and industrial fields. We propose a PC-based software package to control, monitor, and simulate a generic 6-DOF (six degrees of freedom) robot including a spherical wrist. This package may be used as a black box for the design implementations or as a white (detailed) box for learning about the basics of robotics and simulation technology.     

Modeling of the relative humidity via functional networks and control of the temperature via classic controls for a bird incubator

The control of the relative humidity and the temperature is important for the birds to be born. It is not easy to control the relative humidity, but it is possible to obtain the measure of the relative humidity as a consequence of the control of the temperature in a bird incubator. In this article, (1) the mathematical model for the control of temperature in the bird incubator is presented, (2) a functional network to approximate the relative humidity behavior in the bird incubator is proposed, (3) a control for the temperature in the bird incubator is proposed, the error of the proportional control applied to the mathematical model of the temperature of the bird incubator is assured to be uniformly stable, (4) the comparison results of four classic control laws for the control of the temperature considering the proposed mathematical model of the temperature and the functional network to approximate the relative humidity behavior in the bird incubator are presented.     

Tool wear monitoring using neuro-fuzzy techniques: a comparative study in a turning process

Tool wear detection is a key issue for tool condition monitoring. The maximization of useful tool life is frequently related with the optimization of machining processes. This paper presents two model-based approaches for tool wear monitoring on the basis of neuro-fuzzy techniques. The use of a neuro-fuzzy hybridization to design a tool wear monitoring system is aiming at exploiting the synergy of neural networks and fuzzy logic, by combining human reasoning with learning and connectionist structure. The turning process that is a well-known machining process is selected for this case study. A four-input (i.e., time, cutting forces, vibrations and acoustic emissions signals) single-output (tool wear rate) model is designed and implemented on the basis of three neuro-fuzzy approaches (inductive, transductive and evolving neuro-fuzzy systems). The tool wear model is then used for monitoring the turning process. The comparative study demonstrates that the transductive neuro-fuzzy model provides better error-based performance indices for detecting tool wear than the inductive neuro-fuzzy model and than the evolving neuro-fuzzy model.     

火电厂多代理控制系统

针对火电厂非线性、多变量和多控制目标的特点,设计了一个火电厂多代理控制系统(PPMACS).在PP MACS中,前馈控制代理(FFCAs)采用神经模糊系统进行决策,反馈控制代理(FBCAs)采用基于遗传算法的模糊系统进行决策.优化任务分解代理(OTDAs)通过一个优化代理和一个分解代理来进行多目标优化分解PPMACS的任务.协调代理根据运行条件协调PPMACS的各个代理.仿真结果显示了火电厂多代理控制系统能够实现火电单元机组的多目标运行和大范围负荷跟踪.神经网络、模糊逻辑和遗传算法是PPMACS中的智能代理进行决策的有效工具.     

Spanish Melon Landraces: Revealing Useful Diversity by Genomic,Morphological, and Metabolomic Analysis

Spain is a secondary centre of the diversification of the melon (Cucumis melo L.), with high diversity represented in highly appreciated landraces belonging to the Flexuosus and Ibericus groups. A collection of 47 accessions of Flexuosus, Chate, Piel de Sapo, Tendral, Amarillo, Blanco, and Rochet was analysed using a genotyping-by-sequencing (GBS) approach. A total of 66,971 quality SNPs were identified. Genetic analysis differentiated Ibericus accessions and exotic materials (Ameri, Momordica, Kachri, and Agrestis), while Flexuous accessions shared ancestry between them. Within the Ibericus group, no clear genomic distinction could be identified for the different landraces evaluated, with accessions of different landraces showing high genetic similarity. The morphological characterization confirmed that the external colour and fruit shape had been used as recognition patterns for Spanish melon landraces, but variability within a landrace exists. Differences were found in the sugars and acid and volatile profiles of the materials. Flexuosus and Chate melons at the immature commercial stage accumulated malic acid and low levels of hexoses, while Ibericus melons accumulated high contents of sucrose and citric acid. Specific trends could be identified in the Ibericus landraces. Tendral accumulated low levels of sugars and citric acid and high of malic acid, maintaining higher firmness, Rochet reached higher levels of sugars, and Amarillo tended to lower malic acid contents. Interestingly, high variability was found within landraces for the acidic profile, offering possibilities to alter taste tinges. The main volatile organic compounds (VOCs) in Flexuosus and Chate were aldehydes and alcohols, with clear differences between both groups. In the Ibericus landraces, general trends for VOC accumulation could be identified, but, again, a high level of variation exists. This situation highlights the necessity to develop depuration programs to promote on-farm in situ conservation and, at the same time, offers opportunities to establish new breeding program targets and to take advantage of these sources of variation.     

Effects of the Treatment with Flavonoids on Metabolic Syndrome Components in Humans: A Systematic Review Focusing on Mechanisms of Action

Diets high in bioactive compounds, such as polyphenols, have been used to mitigate metabolic syndrome (MetS). Polyphenols are a large group of naturally occurring bioactive compounds, classified into two main classes: non-flavonoids and flavonoids. Flavonoids are distributed in foods, such as fruits, vegetables, tea, red wine, and cocoa. Studies have already demonstrated the benefits of flavonoids on the cardiovascular and nervous systems, as well as cancer cells. The present review summarizes the results of clinical studies that evaluated the effects of flavonoids on the components of the MetS and associated complications when offered as supplements over the long term. The results show that flavonoids can significantly modulate several metabolic parameters, such as lipid profile, blood pressure, and blood glucose. Only theaflavin and catechin were unable to affect metabolic parameters. Moreover, only body weight and body mass index were unaltered. Thus, the evidence presented in this systematic review offers bases in support of a flavonoid supplementation, held for at least 3 weeks, as a strategy to improve several metabolic parameters and, consequently, reduce the risk of diseases associated with MetS. This fact becomes stronger due to the rare side effects reported with flavonoids.     

Novel Redox-Dependent Esterase Activity (EC 3.1.1.2) for DJ-1: Implications for Parkinson’s Disease

Mutations the in human DJ-1 (hDJ-1) gene are associated with early-onset autosomal recessive forms of Parkinson’s disease (PD). hDJ-1/parkinsonism associated deglycase (PARK7) is a cytoprotective multi-functional protein that contains a conserved cysteine-protease domain. Given that cysteine-proteases can act on both amide and ester substrates, we surmised that hDJ-1 possessed cysteine-mediated esterase activity. To test this hypothesis, hDJ-1 was overexpressed, purified and tested for activity towards 4-nitrophenyl acetate (pNPA) as µmol of pNPA hydrolyzed/min/mg·protein (U/mg protein). hDJ-1 showed maximum reaction velocity esterase activity (V_max = 235.10 ± 12.00 U/mg protein), with a sigmoidal fit (S_0.5 = 0.55 ± 0.040 mM) and apparent positive cooperativity (Hill coefficient of 2.05 ± 0.28). A PD-associated mutant of DJ-1 (M26I) lacked activity. Unlike its protease activity which is inactivated by reactive oxygen species (ROS), esterase activity of hDJ-1 is enhanced upon exposure to low concentrations of hydrogen peroxide (<10 µM) and plateaus at elevated concentrations (>100 µM) suggesting that its activity is resistant to oxidative stress. Esterase activity of DJ-1 requires oxidation of catalytic cysteines, as chemically protecting cysteines blocked its activity whereas an oxido-mimetic mutant of DJ-1 (C106D) exhibited robust esterase activity. Molecular docking studies suggest that C106 and L126 within its catalytic site interact with esterase substrates. Overall, our data show that hDJ-1 contains intrinsic redox-sensitive esterase activity that is abolished in a PD-associated mutant form of the hDJ-1 protein.     

The effect of flow on the physical properties of polyurethane/carbon nanotubes nanocomposites: Repercussions on their use as electrically conductive Hot‐Melt adhesives

The properties of multiwall carbon nanotubes (MWCNT)/polyurethane (PUR) nanocomposites after being submitted to flow, i.e., in conditions similar to their application as electrically conductive adhesives (ECA), are investigated. A decrease of the elastic modulus is observed after flow is stopped, compatible with a rearrangement of the MWCNT/PUR network during flow. The implications of the viscoelastic results on probe‐tack data are elucidated and a slightly higher energy of adhesion is observed for sheared samples. Dynamic viscoelastic measurements reveal that crystallization of PUR is fastened with MWCNTs, shortening the solidification process for samples submitted to flow or not. Electrical conductivity results show that the 4 wt% MWCNT/PUR nanocomposite can be submitted to flow and give, on cooling to room temperature, values of the electrical conductivity between 10⁻² and 10⁻¹ Siemens /m. 2 wt% MWCNT/PUR sample presents a shear induced semiconductor to insulator transition and a temperature‐induced isolator to semiconductor transition. We conclude that MWCNT/PUR nanocomposites are good candidates to develop Hot Melt ECAs, since they display satisfactory viscosity, tack, crystallization (linked to permanent adhesion), and electrical conductivity. POLYM. COMPOS., 36:704–712, 2015. © 2014 Society of Plastics Engineers     

Industrial uses of geothermal energy a framework for application in a developing country

This paper presents a model of approach for agroindustrial development utilizing geothermal energy in an agriculturally based tropical developing country. Presented is the complexity of patterns in raw materials productivity, demand and the present problems of preserving their quality from biological deterioration thru drying.Utilization of a geothermal agroindustrial estate have to be carefully studied and programmed in reply to an almost constant heat demand profile consistent with seasonal available raw materials. This study uses the Tongonan Geothermal Field in Leyte Island as the model for presentation.