Real-time inverse dynamics control of parallel manipulators using general-purpose multibody software

This work deals with the problem of computing the inverse dynamics of complex constrained mechanical systems for real-time control applications. The main goal is the control of robotic systems using model-based schemes in which the inverse model itself is obtained using a general purpose multibody software, exploiting the redundant coordinate formalism. The resulting control scheme is essentially equivalent to a classical computed torque control, commonly used in robotics applications. This work proposes to use modern general-purpose multibody software to compute the inverse dynamics of complex rigid mechanisms in an efficient way, so that it suits the requirements of realistic real-time applications as well. This task can be very difficult, since it involves a higher number of equations than the relative coordinates approach. The latter is believed to be less general, and may suffer from topology limitations. The use of specialized linear algebra solvers makes this kind of control algorithms usable in real-time for mechanism models of realistic complexity. Numerical results from the simulation of practical applications are presented, consisting in a “delta” robot and a bio-mimetic 11 degrees of freedom manipulator controlled using the same software and the same algorithm.     

Observation strategies for event detection with incidence on runtime verification: theory, algorithms, experimentation

Many applications (such as system and user monitoring, runtime verification, diagnosis, observation-based decision making, intention recognition) all require to detect the occurrence of an event in a system, which entails the ability to observe the system. Observation can be costly, so it makes sense to try and reduce the number of observations, without losing full certainty about the event??s actual occurrence. In this paper, we propose a formalization of this problem. We formally show that, whenever the event to be detected follows a discrete spatial or temporal pattern, then it is possible to reduce the number of observations. We discuss exact and approximate algorithms to solve the problem, and provide an experimental evaluation of them. We apply the resulting algorithms to verification of linear temporal logics formulæ. Finally, we discuss possible generalizations and extensions, and, in particular, how event detection can benefit from logic programming techniques.     

Sensitivity analysis in fuzzy systems: Integration of SimLab and DANA

This work addresses the sensitivity analysis on the settings of fuzzy inference systems where multiple, yet dissimilar inputs are aggregated and resolved into a single output. The JAVA platform-independent development environment DANA (Data Analysis aNd Assessment) includes components for computation of fuzzy-logic based rules guiding the fuzzification–aggregation–defuzzification process by alternative membership functions (of an input to belong to fuzzy sets) and weighing systems, and unlimited aggregation levels. The integration of the library for sensitivity analysis SimLab within DANA is illustrated using the Morris screening method to determine the relative importance ranking of fuzzy settings (lower and upper limits, weights) on the final defuzzified output. The assumptions about the settings of the analysis are also discussed using an illustrative example where sensitivity analysis is applied to the fuzzy inference system designed to evaluate analytical methods in the domain of genetically modified organisms.     

Sensitivity analysis of the rice model WARM in Europe: Exploring the effects of different locations,climates and methods of analysis on model sensitivity to crop parameters

Sensitivity analysis studies how the variation in model outputs can be due to different sources of variation. This issue is addressed, in this study, as an application of sensitivity analysis techniques to a crop model in the Mediterranean region. In particular, an application of Morris and Sobol' sensitivity analysis methods to the rice model WARM is presented. The output considered is aboveground biomass at maturity, simulated at five rice districts of different countries (France, Greece, Italy, Portugal, and Spain) for years characterized by low, intermediate, and high continentality. The total effect index of Sobol' (that accounts for the total contribution to the output variation due a given parameter) and two Morris indices (mean μ and standard deviation σ of the ratios output changes/parameter variations) were used as sensitivity metrics. Radiation use efficiency (RUE), optimum temperature (T_opt), and leaf area index at emergence (LAI_ini) ranked in most of the combinations site × year as first, second and third most relevant parameters. Exceptions were observed, depending on the sensitivity method (e.g. LAI_ini resulted not relevant by the Morris method), or site-continentality pattern (e.g. with intermediate continentality in Spain, LAI_ini and T_opt were second and third ranked; with low continentality in Portugal, RUE was outranked by T_opt). Low σ values associated with the most relevant parameters indicated limited parameter interactions. The importance of sensitivity analyses by exploring site × climate combinations is discussed as pre-requisite to evaluate either novel crop-modelling approaches or the application of known modelling solutions to conditions not explored previously. The need of developing tools for sensitivity analysis within the modelling environment is also emphasized.     

Valuation of European continuous-installment options

This paper is concerned with the valuation of European continuous-installment options where the aim is to determine the initial premium given a constant installment payment plan. The distinctive feature of this pricing problem is the determination, along with the initial premium, of an optimal stopping boundary since the option holder has the right to stop making installment payments at any time before maturity. Given that the initial premium function of this option is governed by an inhomogeneous Black-Scholes partial differential equation, we can obtain two alternative characterizations of the European continuous-installment option pricing problem, for which no closed-form solution is available. First, we formulate the pricing problem as a free boundary problem and using the integral representation method, we derive integral expressions for both the initial premium and the optimal stopping boundary. Next, we use the linear complementarity formulation of the pricing problem for determining the initial premium and the early stopping curve implicitly with a finite difference scheme. Finally, the pricing problem is posed as an optimal stopping problem and then implemented by a Monte Carlo approach.     

A polyfluoroalkyl imidazolium ionic liquid as iodide ion source in dye sensitized solar cells

We report on the use of a fluorinated imidazolium ionic liquid as a source of iodide ions in solvent-based electrolytes for DSSCs. Efficient dye regeneration and fast charge transport in the fluorinated electrolyte result in an overall improvement of the device performances compared to conventional hydrogenated ionic liquids.     

Multibody Analysis of Controlled Aeroelastic Systems on Parallel Computers

The paper describes the application of parallel techniques to amultibody multidisciplinary formulation. The problem is stated interms of a system of nonlinear Differential-Algebraic Equations(DAE). The parallel solution is obtained using a sub-structuringdomain decomposition method, that is able to exploit thecharacteristic quasi-monodimensional topology that multibodymodels usually present. The presence of explicit constraints inform of algebraic equations requires particular care in thetreatment of the related unknowns, to avoid local singularityproblems. The code has been successfully tested on differentcomputer architectures. Special attention has been dedicated toproduce a code that will efficiently work on a cluster of PCs.Results of three test problems, regarding the simulation of anonlinear beam bending and of complex aeroservomechanical systemsas an helicopter rotor and a tiltrotor aircraft, are presented.     

A Logic Based Asynchronous Multi-Agent System

We present a logic programming based asynchronous multi-agent system in which agents can communicate with one another; update themselves and each other; abduce hypotheses to explain observations, and use them to generate actions. The knowledge base of the agents is comprised of generalized logic programs, integrity constraints, active rules, and of abducibles. We characterize the interaction among agents via an asynchronous transition rule system, and provide a stable models based semantics. An example is developed to illustrate how our approach works.     

Long-term selective IgG immuno-adsorption improves Rasmussen's encephalitis

We report that long-term selective immunoglobulin G immunoadsorption by protein A (PAI) improved seizure frequency and neuropsychological deficits in a 16-year-old patient with severe treatment-resistant Rasmussen's encephalitis (RE). Clinical improvement correlated with reduction of antiglutamate receptor 3 antibodies. The efficacy of PAI in our patient supports the autoimmune hypothesis of RE and suggests its application to avoid, or at least delay, functional hemispherectomy in selected cases.     

Multicentre evaluation of the Monarch (IL) clinical chemistry analyser

A multicentre evaluation of the Monarch centrifugal analyser is reported. Precision, linearity and accuracy were assessed by comparison with routine methods. Calibration stability, photometric and dispensing accuracy, and carry-over related to samples and reagents were also evaluated. The overall performance of the instrument was good, showing an excellent photometric and dispensing accuracy, absence of sample-dependent carry-over, and almost negligible reagent carry-over. Good precision, linearity and correlation with routine methods were found for the parameters tested. The instrument is reliable and is now used as the routine clinical chemistry analyser in two of the three laboratories taking part in the evaluation.