Made available in DSpace on 2014-06-11T19:34:58Z (GMT). No. of bitstreams: 0 Previous issue date: 2007-05Bitstream added on 2014-06-13T20:06:00Z : No. of bitstreams: 1 nunes_lenp_dr_guara.pdf: 1711475 bytes, checksum: 1ea89d3a534a0a1530a9ef0a0ba7cb3e (MD5) / Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES) / Este trabalho trata da geração e otimização de trajetórias de um manipulador robótico planar (2D) de três graus de liberdade, num ambiente livre de obstáculos. Visto que a cinemática inversa de braços robóticos é um problema complexo que, em geral, geram múltiplas soluções, otimizam-se, aqui, estas soluções através de algoritmos genéticos (AGs). A função de avaliação do AG tem caráter multi-objetivo, de forma a minimizar os deslocamentos angulares e obter de forma precisa a posição da garra, usando funções desenvolvidas para o ambiente Matlab, tais como, GAOT e PLANMANT, devido a sua facilidade de programação e geração de gráficos. A seguir, foram obtidos resultados através de programa desenvolvido em linguagem C, utilizando a biblioteca GAUL, e tem-se avaliado o desempenho computacional de processamento. E finalmente, para a validação experimental deste estudo, tem-se implementado este procedimento em um manipulador robótico Robix RCS-6 de configuração similar ao modelo simulado. Os resultados mostram que o método implementado é eficiente, computacionalmente rápido e viável em aplicações reais. / This work treats of the generation and optimization of trajectories for a planar robotic manipulator (2D) of three degrees of freedom, in free environment obstacles. Since the inverse kinematics of robotic arms are a complex problem that, generally, generate multiple solutions, here are optimized these solutions through genetic algorithms (AGs). The evaluation function of the AG has multi-objective character which minimize the angular displacements and the positional errors, being used functions developed for the Matlab environment, such as, GAOT and PLANMANT, due its compliance of programming and graphics generation. Immediately, results were obtained through program developed in language C, using the GAUL library. The computational processing performance has been evaluated. And finally, for the experimental validation of this study, has been implemented this procedure in a robotic manipulator Robix RCS-6 of similar configuration to the simulated model. The results show that the implemented method is efficient, and computationally fast and viable in real applications. KEYWORDS: Robotic manipulator, Optimal trajectory, Inverse kinematics, Genetic algorithm.

Arms export research has largely focused on the behaviour of superpowers or major powers, while arms export behaviour of small democracies has received little attention. By using a quantitative method, this paper explored whether democracy had any impact on the arms export behaviour of small democracies. The argument was that a good international social reputation, as responsible global actors, would cause indirect pressure on small democratic states to follow democratic norms, and therefore make them avoid arms export to autocracies. The findings did not support the argument of democratic norms to have a negative relation to arms export to autocratic regimes. Additionally, the findings indicate that economic wealth is positively correlated to arms export to autocratic regimes.

The study investigates the influence of politics over technology to then deepen the relevance of semiconductors as part of the defence realm in the case of China. To this end, the importance of technology in warfare and the entailed trade-offs are illustrated along with the efforts to regulate the export flow. The theoretical framework focuses on finding local validity rather than a universal one, bridging politics and technology via the time factor. Hence, semiconductors are included in the Chinese defence sector showing the relevance given them by Beijing's plans for military modernisation. An overview of the supply chain allows for a better understanding of the implications stemming from its global structure, underscoring the autarky-efficiency challenges any state needs to address. Consequently, China embodies a favourable case study because of its domestic power structure, modernisation ambitions, and imposed export controls directing its choices. A thorough analysis of policies and procurement means is employed to confirm the securitisation of the technology, gauging domestic prospects, international responses, and hindrances. Finally, two scenarios structure the main drivers into plausible outlooks, sketching development in the short term and suggesting further research avenues.

An exploration of deploying non-lethal weapons in todays chaotic post cold-war world; thereby facilitating peacekeeping deployments without casualties. Dando argues a more sinister outcome could be the result.

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This thesis explores how the newly adopted Arms Trade Treaty (ATT), the first internationaltreaty to regulate the trade in conventional arms, can address the issue of the illegal andirresponsible proliferation of small arms and lights weapons (SALW) and improve peace andsecurity. By far the most commonly used weapons in modern conflicts, SALW and theireffects mainly on intrastate conflicts, I argue, are the most important issues for the ATT toaddress. Being one of the prime sources of fuel for, and even cause of, the new trend ofincreasingly deadly and destructive intrastate conflicts today, controlling the largely illegaland internationally unregulated SALW market would be a crucial step to improving peaceand security.The thesis uses Security Dilemma theory to describe how arms and their proliferation posethreats to peace and security, while international law and regime theory is used to identifyhow legal action and structures of cooperation (regimes) can offer solutions to theseproblems. To determine to what extent the ATT can address these issues, the thesis uses acase study approach together with a content analysis of the ATT text to identify the relevantlegal provisions and how they can operate in the context of the theoretical framework.The findings of this study suggest that the most important aspect of the ATT is that itimposes prohibitions on any arms transfer that risks being used to commit acts of genocide,human rights abuses and other violations of international law, or that risk leading todiversion. These provisions could be used to stop the irresponsible kinds of arms transfersthat facilitate these crimes. The effects of the ATT are however largely dependent on the willof states, which will determine the effectiveness of the treaty. Nonetheless, as this thesisshows, the ATT provides tools and a legal platform that could, if utilized, have a substantialimpact on these issues.

The military potential of nanotechnology was anticipated by its proponents from the early stages of its development, and explicit programmes for this purpose are now well established. However, the impact of nanotechnology on arms control is very unlikely to be merely additive. Instead, it threatens to undermine the arms control paradigm, for reasons explored in this paper. These include the place of nanoscience and nanotechnology as the principal enablers of technological convergence; the extension from dual-use to multiple-use dilemmas arising from new materials and processes, and their integration into economic development and competitiveness; low entry-level infrastructural requirements (already a feature of biotechnology); and a blurring of the distinction between offensive arms and capabilities likely to be viewed as threatening.

The purpose of this study was to develop a SNaPshot® assay to simultaneously discriminate between the dystrophic and wild type (wt) alleles in mdx mice. The mdx mouse is an animal model for Duchenne muscular dystrophy (DMD), a severe and fatal muscle wasting disease. To evaluate possible treatments and to carry out genetic studies, it is essential to distinguish between mice that carry the mutant dystrophic or wt allele(s). The current Amplification-Resistant Mutation System (ARMS) assay used to genotype mdx mice is labor intensive and sometimes fails to yield typing results, which reduce its efficiency as a screening tool. An alternative assay based on single nucleotide polymorphism (SNP) extension technology (i.e., SNaPshot®) would be advantageous because its specificity and capability to be automated would reduce the labor involved and increase the fidelity of each assay. A SNaPshot® assay has been developed that provides a robust and potentially automatable assay that discriminates between the wt and dystrophic alleles. The assay has been optimized to use: an undiluted DNA in the PCR, a 0.1 µM PCR primer concentration, a full PCR product for the SNP extension reaction, a 50ºC annealing temperature for the SNP extension in accordance with standard SNaPshot® conditions, and a 0.4 µM concentration of the SNP extension primer. The advantages of the resultant SNaPshot® assay over the ARMS assay include higher fidelity, robustness, and more consistent performance within and among laboratories, and reduced risk of human error. / Master of Science

India and Pakistan are two of the world's poorest countries, yet each devotes a substantial portion of its resources to defend itself against the other. What drives these expenditures? Are they internally or externally driven? If externally, how do the countries interact with each other? To try to answer these questions, we apply five models widely used in defense spending studies. If the model performs well, we will assume that the underlying driver of defense expenditure or change in defense expenditure is present. If the model does not perform well, we will assume the driver is absent. Our goal is not to find the single "best" model, but to see if a consistent pattern of behavior emerges for each country through the combination of the models. We conclude that existing models do shed light on the defense spending behaviors of the two countries, although they are by no means the final word and have only limited value for forecasting. The patterns that emerge from empirical testing of the models indicate that: India is far more sensitive to Pakistan's spending than Pakistan is to India's. India is concerned with maintaining a certain level of superiority over its rival, but shows little inclination to spend Pakistan into the ground. Pakistan has run up against its resource constraint and Pakistani leaders have opted to spend what they feel they prudently can on defense rather than try to engage India in an arms race that they would assuredly lose. On the other hand, Pakistan' defense spending bureaucracy is stronger than India's, so that Pakistan finds it more difficult to cut defense spending than does India. / Master of Arts

Metallic robotic arms, or manipulators, currently dominate automated industrial operations, but due to their intrinsic weight, have limited usefulness for large-scale applications in terms of precision, speed, and repeatability. This thesis focuses on exploring the feasibility of using polymeric composite materials for the construction of long-reach robotic arms. Different manipulator layouts were investigated and an ideal design was selected for a robotic arm that has a 5 [m] reach, 50 [kg] payload, and is intended to operate on large objects with complex curvature. The cross-sectional geometry of the links of the arm were analyzed for optimal stiffness- and strength-to-weight ratios that are capable of preserving high precision and repeatability under time-dependent external excitations. The results lead to a novel multi-segment link design and method of production. A proof-of-concept prototype of a two degrees-of-freedom (2-DOF) robotic arm with a reach of 1.75 [m] was developed. Both static and repeatability testing were performed for verification. The results indicated that the prototype robot main-arm constructed of carbon fiber-epoxy composite material provides good stiffness-to-weight and strength-to-weight ratios. Finite element analysis (FEA) was performed on a 3-D computer model of the arm. Successful verification led to the use of the 3-D model to define the dimensions of an industrial-sized robotic arm. The results obtained indicate high stiffness and minimal deflection while achieving a significant weight reduction when compared to commercial arms of the same size and capability.