Obstacle Modelling Oriented to Safe Motion Planning and Control for Planar Rigid Robot Manipulators

Trajectory planning and tracking are crucial tasks in any application using robot manipulators. These tasks become particularly challenging when obstacles are present in the manipulator workspace. In this paper a n-joint planar robot manipulator is considered and it is assumed that obstacles located in its workspace can be approximated in a conservative way with circles. The goal is to represent the obstacles in the robot configuration space. The representation allows to obtain an efficient and accurate trajectory planning and tracking. A simple but effective path planning strategy is proposed in the paper. Since path planning depends on tracking accuracy, in this paper an adequate tracking accuracy is guaranteed by means of a suitably designed Second Order Sliding Mode Controller (SOSMC). The proposed approach guarantees a collision-free motion of the manipulator in its workspace in spite of the presence of obstacles, as confirmed by experimental results.     

Cognitive Abilities, Healthcare and Screening Tests

We relate indicators of cognitive abilities and health promotion to the propensity to screen for breast cancer, using microeconomic data available in a sample of women aged 50 or above in 11 European countries. Our findings suggest that health promotion activities attenuate the effect of human capital on the decision to undertake mammography, thus implying that disparities in education achievements and cognitive skills do not fully translate into differences in the propensity to do preventive screening.     

Heat shock and structural proteins associated with meat tenderness in Nellore beef cattle,a Bos indicus breed

Nellore beef cattle, a Bos indicus (Zebu) breed, is well adapted to tropical conditions and has allowed Brazil to become one of the largest producers of red meat. Nevertheless, B. indicus breeds are reported to have less tender meat than Bos taurus. This study was designed to identify genes associated with meat tenderness and thus provides important information for breeding programs. A group of 138 animals was evaluated for longissimus thoracis muscle shear force (SF). Animals with the highest and lowest SF values (six animals each) were then selected for protein abundance studies. Samples were subjected to two-dimensional gel electrophoresis (2-DE) followed by peptide sequencing through mass spectrometry (MS) to identify differentially expressed proteins associated with SF values. Seventeen differentially expressed spots were observed (p < 0.05) between the two groups. The 13 proteins identified included structural proteins (alpha actin-1, MLC1, MLC3, MLC2F and tropomyosin), related to cell organization (HSPB1 and HSP70), metabolism (beta-LG, ACBD6 and Complex III subunit I) and some uncharacterized proteins. Results confirm the existence of differentially expressed proteins associated with SF, which can lead to a better understanding of mechanisms involved in meat tenderness.     

Sensitivity and devaney’s chaos in uniform spaces

We give sufficient conditions for sensitivity of continuous group actions on uniform spaces.     

A new method to cope with decision makers' uncertainty in the equipment selection process

One of the main problems faced while configuring or reconfiguring manufacturing systems is to rank alternative designs taking into account all the different aspects involved (both tangible and intangible). For this purpose the Analytic Hierarchy Process (AHP) is a well-known decision making support method that addresses this problem. A major drawback of AHP is that uncertainty in the judgments of the decision makers and the resulting impact on the ranking is not considered. In real situations, however, judgments based on perceived future scenarios are almost always uncertain. To solve this problem in this paper we present the first complete probabilistic extension to the AHP method. The new method provides the decision maker not only with information on the ranking of the alternatives but also the probability that the ranking remains stable even in presence of uncertainty in the judgements. We verified the validity of the new method in a real application developed for the Ferrari racing team.     

Regulation of constitutive exocytic transport by membrane receptors. A biochemical and morphometric study

Biochemical and morphometric approaches were combined to examine whether constitutive secretory transport might be controlled by plasma membrane receptors, as this possibility would have significant physiological implications. Indeed, IgE receptor stimulation in rat basophilic leukemia cells potently increased the rate of transport of soluble pulse-labeled 35S-sulfated glycosaminoglycans from distal Golgi compartments to the cell surface. This effect was largely protein kinase C (PKC)-dependent. Direct activation of PKC also stimulated constitutive transport of glycosaminoglycans, as indicated by the use of agonistic and antagonistic PKC ligands. PKC ligands also had potent, but different, effects on the exocytic transport from distal Golgi compartments to the plasma membrane of a membrane-bound protein (vesicular stomatitis virus glycoprotein), which was slightly stimulated by activators and profoundly suppressed by inhibitors of PKC. Morphological analysis showed impressive changes of the organelles of the secretory pathway in response to IgE receptor stimulation and to direct PKC activation (enhanced number of buds and vesicles originating from the endoplasmic reticulum and Golgi and increase in surface and volume of Golgi compartments), suggestive of an overall activation of exocytic movements. These results show that rapid and large changes in constitutive transport fluxes and in the morphology of the exocytic apparatus can be induced by membrane receptors (as well as by direct PKC stimulation).     

Mass spectrometry in the biosynthetic and structural investigation of lignins

Lignin, a resistant cell-wall constituent of all vascular plants that consists of ether and carbon-linked methoxyphenols, is still far from being structurally described in detail. The main problem in its structural elucidation is the difficulty of isolating lignin from other wood components without damaging lignin itself. Furthermore, the high number and variegated forms of linkages that occur between the monomeric units and the chemical resistance of certain ether bonds limit the extent to which analytical and degradation procedures can be used to elucidate the lignin structure. Most of our present knowledge about the molecular structure of lignin is based on the analysis of monomers, dimers or, at the most, tetramers of degraded isolated lignins. Mass spectrometry (MS), which offers advantages in terms of speed, specificity, and sensitivity, has revealed to be a very powerful technique in the structural elucidation of lignins, in combination with the great number of chemical and thermal degradation methods available in the study of lignin. Moreover, the recent development of new ionization techniques in MS-electrospray ionization (ESI)-MS and matrix-assisted laser desorption/ionization (MALDI)-MS-has provided new possibilities to also analyze the undegraded lignin macromolecule.     

Photoalignment and Surface‐Relief‐Grating Formation are Efficiently Combined in Low‐Molecular‐Weight Halogen‐Bonded Complexes

It is demonstrated that halogen bonding can be used to construct low‐molecular‐weight supramolecular complexes with unique light‐responsive properties. In particular, halogen bonding drives the formation of a photoresponsive liquid‐crystalline complex between a non‐mesogenic halogen bond‐donor molecule incorporating an azo group, and a non‐mesogenic alkoxystilbazole moiety, acting as a halogen bond‐acceptor. Upon irradiation with polarized light, the complex exhibits a high degree of photoinduced anisotropy (order parameter of molecular alignment > 0.5). Moreover, efficient photoinduced surface‐relief‐grating (SRG) formation occurs upon irradiation with a light interference pattern, with a surface‐modulation depth 2.4 times the initial film thickness. This is the first report on a halogen‐bonded photoresponsive low‐molecular‐weight complex, which furthermore combines a high degree of photoalignment and extremely efficient SRG formation in a unique way. This study highlights the potential of halogen bonding as a new tool for the rational design of high‐performance photoresponsive suprastructures.     

A project scheduling approach to production planning with feeding precedence relations

In Manufacturing-to-Order or Engineering-to-Order systems producing complex and highly customised items, each item has its own characteristics that are often tailored for a specific customer. Project scheduling approaches are suitable for production planning in such environments. However, when we consider the production of complex items, the distinct production operations are often aggregated into activities representing whole production phases. In such cases, the planning and scheduling problem works on the aggregate activities, considering that, in most cases, such activities also have to be manually executed. Moreover, simple finish-to-start precedence relations no longer correctly represent the real production process, but overlapping among activities should be allowed. In this paper, a project scheduling approach is proposed for production planning in Manufacturing-to-Order systems. The Variable Intensity formulation is used to allow the effort committed to the execution of activities to vary over time. Feeding precedences are developed to model generalised precedence relations when the execution mode of activities is not known a priori. Two mathematical formulations of these precedence relations are proposed. The formulations are applied both to randomly generated instances and to an industrial system producing machining centres and are compared in terms of computational efficiency.