Manipuladores paralelos apresentam inércia reduzida, o que lhes permite alcançar altas acelerações e melhor eficiência energética. Porém, frequentemente seu espaço de trabalho possui desempenho pouco uniforme. De fato, a presença de singularidades paralelas é um forte limitante para essa arquitetura robótica. A redundância de atuação já é conhecida como uma alternativa para essa questão. Enquanto que a redundância cinemática ainda não possui consequências claras. Um manipulador com esse tipo de redundância apresenta um número de graus de liberdade do end-effector menor que o número de graus de liberdade do mecanismo como um todo. Considerando essa lacuna, o objetivo desse mestrado é analisar a influência da redundância cinemática no desempenho de manipuladores paralelos através de simulações e testes experimentais. Tal estudo não é trivial, uma vez que com o maior número de atuadores e graus de liberdade, é adicionada também inércia ao sistema. Foram definidas métricas para avaliar o quão favorável é uma dada posição e, com elas, estratégias de resolução de redundância foram analisadas. A estratégia principal proposta se compõe por duas etapas. No primeiro passo, é definida uma movimentação na qual a posição a cada instante é ótima segundo uma dada métrica de desempenho multiobjetivo. Isso resulta em um movimento de referência que em geral possui altas acelerações. Na segunda etapa, aplica-se uma otimização global, procurando manter um compromisso de proximidade com o movimento de referência e com os níveis de aceleração. Além deste, foram aplicados diversos métodos de otimização local (onde a cinemática inversa é resolvida para cada instante isoladamente) e uma estratégia global truncada. Essas opções foram comparadas numericamente e experimentalmente, trazendo uma resposta objetiva da influência da redundância cinemática no manipulador paralelo. A campanha experimental foi realizada em uma protótipo construído no Laboratório de Dinâmica da Escola de Engenharia de São Carlos. Esse protótipo consiste em um manipulador paralelo planar com 6 graus de liberdade, tendo assim, até 3 graus de redundância para a movimentação no plano. Têm-se 6 motores rotativos para atuá-los, sendo 3 deles acoplados a guias lineares com fusos para obtenção de atuação linear. O acionamento ou não destas guias define o grau de redundância do sistema, garantindo a versatilidade do protótipo. / As a consequence of their reduced inertia, parallel manipulators present superior energetic efficiency and they are able to reach high accelerations. Nevertheless, their workspace has a poorly uniform performance. Indeed, the presence of parallel singularities is a strong limitant for this kind of robots. On the one hand, actuation redundancy is well-known as a good choice in an effort to solve this issue. On the other hand, kinematic redundancy still have unclear consequences on this matter. A kinematically redundant manipulator presents an end-effector with fewer degrees of freedom than the mechanism as a whole. Considering this gap, the objective of this research is to analyze the influence of kinematic redundancy on the performance of parallel manipulators through simulations and experimental tests. This issue turns out to be complex, once traveling actuators sum additional inertia to the system. Metrics are defined in order to evaluate how favourable is a given position, and redundancy resolution strategies are analyzed using them. The main proposed strategy is composed of two steps. In the first one, a movement is defined so that the position for each instant is optimum for a given multiobjective performance metric. This procedure delivers a refererence movement which generally presents high accelerations. On the second step, a global optimization is applied, seeking for a trade-off between the proximity to the reference and the acceleration levels. In addition, several local methods (which resolve the inverse kinematics for each instant independently) and one truncated global strategy were addressed. These configurations were compared numerically and experimentally, delivering a objective analysis of the influence of kinematic redundancy on the performance of the parallel manipulator. The experimental campaign was executed with a physical prototype built at the São Carlos School of Engineering. This is a planar manipulator with 6 degrees of freedom, consequently presenting up to 3 degrees of redundancy. The mechanism is actuated by 6 rotating motors, of which 3 are coupled to leadscrews, resulting in linear actuators. These leadscrews can be locked, defining different degrees of redundancy and granting the versatility of the prototype.

Robotics has been considered as a viable automation solution for the aerospace industry to address manufacturing cost. Many of the existing robot systems augmented with guidance from a large volume metrology system have proved to meet the high dimensional accuracy requirements in aero-structure assembly. However, they have been mainly deployed as costly and dedicated systems, which might not be ideal for aerospace manufacturing having low production rate and long cycle time. The work described in this thesis is to provide technical solutions to improve the flexibility and cost-efficiency of such metrology-integrated robot systems. To address the flexibility, a software framework that supports reconfigurable system integration is developed. The framework provides a design methodology to compose distributed software components which can be integrated dynamically at runtime. This provides the potential for the automation devices (robots, metrology, actuators etc.) controlled by these software components to be assembled on demand for various assembly applications. To reduce the cost of deployment, this thesis proposes a two-stage error compensation scheme for industrial robots that requires only intermittent metrology input, thus allowing for one expensive metrology system to be used by a number of robots. Robot calibration is employed in the first stage to reduce the majority of robot inaccuracy then the metrology will correct the residual errors. In this work, a new calibration model for serial robots having a parallelogram linkage is developed that takes into account both geometric errors and joint deflections induced by link masses and weight of the end-effectors. Experiments are conducted to evaluate the two pieces of work presented above. The proposed framework is adopted to create a distributed control system that implements calibration and error compensation for a large industrial robot having a parallelogram linkage. The control system is formed by hot-plugging the control applications of the robot and metrology used together. Experimental results show that the developed error model was able to improve the 3s positional accuracy of the loaded robot from several millimetres to less than one millimetre and reduce half of the time previously required to correct the errors by using only the metrology. The experiments also demonstrate the capability of sharing one metrology system to more than one robot.

The current study examined the association between formant trajectories and tongue and lip movements in the American English diphthongs /aɪ/, /aʊ/, and /ɔɪ/. Seventeen native speakers of American English had electromagnetic sensors placed on their tongues and lips to record movement data along with corresponding acoustic data during productions of the diphthongs in isolation. F1 and F2 trajectories were extracted from the middle 50% of the diphthongs and compared with time-aligned kinematic data from tongue and lip movements. The movement and formant tracks were converted to z-scores and plotted together on a common time scale. Absolute difference scores between kinematic variables and acoustic variables were summed along each track to reflect the association between the movement and acoustic records. Results show that tongue movement has the closest association with changes in F1 and F2 for the diphthong /aɪ/. Lip movement has the closest association with changes in F1 and F2 for the diphthong /aʊ/. Results for the diphthong /ɔɪ/ suggest tongue advancement has the closest association with changes in F2, while neither lip movement nor tongue movement have a clearly defined association with changes in F1. These results suggest that for diphthongs with the lip rounding feature, lip movement may have a greater influence on F1 and F2 than previously considered. Researchers who use formant data to make inferences about tongue movement and vowel space may benefit from considering the possible influence of lip movements on vocal tract resonance.

Abstract available in the Annual coaches and Sport Science College.

A majority of disk galaxies host stellar bars that regulate and amplify the flow of angular momentum, J, between disks and their parent dark matter (DM) halos. These bars constitute the prime factor driving internal galaxy evolution. Yet, a non-negligible fraction of disks lack this morphological feature, which led to adoption of the Hubble Fork Diagram. The complex evolution of barred galaxies has been studied by means of numerical simulations, complemented by observations. Despite prolonged efforts, many fundamental questions remain, in part because cosmological simulations still lack the necessary resolution to account for resonant interactions and simulations of isolated galaxies have ignored the cosmological spin of halos. The goal of my thesis is to analyze the J-redistribution in barred galaxies embedded in spinning DM halos, and quantify the DM response. Using high-resolution N-body stellar and DM numerical simulations, I model and analyze the dynamical and secular evolution of stellar bars in disk galaxies and their DM counterparts —induced DM bars in spinning halos with a range of cosmological spin parameter λ ~ 0-0.09. Using a novel method to create initial conditions for the self-consistent equilibrium disk-halo systems, and evolving them for 10 Gyr, I follow the basic parameters of stellar and DM bars, including their observational corollaries. My conclusions are based on nonlinear orbit analysis which quantifies the orbit trapping by the resonances. My main results emphasize a new effect: the DM halo spin has a profound effect on the evolution of stellar and DM bars. Specifically, with increasing λ in the prograde direction: (1) stellar bars develop faster dynamically, but (2) experience a reduced growth during the secular phase of evolution, and basically dissolve for λ > 0.06. These disks can represent the unbarred branch of galaxies on the Hubble Fork Diagram; (3) the stellar bar pattern speeds level off and lose less J; and (4) the stellar bars exhibit ratios of corotation-to-bar radii, RCR/Rbar > 2, representing the so-called slow bars without offset dust lanes. Furthermore, I find that (5) the induced DM bars reach maximal amplitudes which strongly depend on λ, while those of the stellar bars do not; (6) efficiency of resonance trapping of DM orbits by the DM bars, their masses and volumes — all increase with λ; (7) contribution of resonant transfer of J to the DM halo increases with λ as well. (8) prograde and retrograde DM orbits play different roles in J-transfer. (9) Finally, I find that dependence of DM response on λ has important implications for a direct detection of DM and of the associated stellar tracers, such as 'streamers.' Additional results relate the above analysis of corotating disks and halos with those of the counter-rotating ones.

The Coeur d'Alene district in northern Idaho is a world class Pb-Ag mesothermal vein system that has produced about 360 million ounces of silver, lead, and zinc since the 1880s. Despite the long history of exploration and production, the district does not have a predictive model for exploration based on a sound understanding of structural controls on the silver ore deposits; this is certainly the case for the Sunshine Mine and surrounding area. Fault kinematic history in the district shows a regional scale fault system reactivated over time with dextral, sinistral, and dip-slip displacement. The fault system is superimposed on regional deformation fabrics that were examined for this study in the Sunshine Mine area. Cleavage sets observed in the Sunshine mine area, distinguished by orientation and superposition relationships, are consistent with the findings of Smith (2004) which defined cleavage sets referred to as S1, S2, and S3. Two additional deformation fabrics that appear spatially tied to fault zones formed between development of cleavages S2 and S3. The multiple cleavages, fault zones, and their intersections are interpreted to act as pathways for hydrothermal fluids associated with vein formation and silver ore deposition. Thin section kinematic analysis of vein and shear zone samples defined a dip-slip sense of shear associated with the Sterling vein. Electron Backscatter Diffraction (EBSD) analysis of vein and shear zone samples failed to define a lattice preferred crystallographic orientation that defined shear sense. Similarly, cathodoluminescence (CL) analysis of thin section textures failed to define a dominant shear sense and fault kinematics. Nevertheless, additional study using these techniques is warranted. Both field observation and thin section analysis demonstrate a direct relationship between shear zones, veins, and mineralization potential, clarifying the need for detailed fault maps for the Sunshine Mine area and Coeur d'Alene district.

Current clinical practice regarding upper body prosthesis prescription and training is lacking a standarized, quantitative method to evaluate the impact of the prosthetic device. The amputee care team typically uses prior experiences to provide prescription and training customized for each individual. As a result, it is quite challenging to determine the right type and fit of a prosthesis and provide appropriate training to properly utilize it early in the process. It is also very difficult to anticipate expected and undesired compensatory motions due to reduced degrees of freedom of a prosthesis user. In an effort to address this, a tool was developed to predict and visualize the expected upper limb movements from a prescribed prosthesis and its suitability to the needs of the amputee. It is expected to help clinicians make decisions such as choosing between a body-powered or a myoelectric prosthesis, and whether to include a wrist joint. To generate the motions, a robotics-based model of the upper limbs and torso was created and a weighted least-norm (WLN) inverse kinematics algorithm was used. The WLN assigns a penalty (i.e. the weight) on each joint to create a priority between redundant joints. As a result, certain joints will contribute more to the total motion. Two main criteria were hypothesized to dictate the human motion. The first one was a joint prioritization criterion using a static weighting matrix. Since different joints can be used to move the hand in the same direction, joint priority will select between equivalent joints. The second criterion was to select a range of motion (ROM) for each joint specifically for a task. The assumption was that if the joints' ROM is limited, then all the unnatural postures that still satisfy the task will be excluded from the available solutions solutions. Three sets of static joint prioritization weights were investigated: a set of optimized weights specifically for each task, a general set of static weights optimized for all tasks, and a set of joint absolute average velocity-based weights. Additionally, task joint limits were applied both independently and in conjunction with the static weights to assess the simulated motions they can produce. Using a generalized weighted inverse control scheme to resolve for redundancy, a human-like posture for each specific individual was created. Motion capture (MoCap) data were utilized to generate the weighting matrices required to resolve the kinematic redundancy of the upper limbs. Fourteen able-bodied individuals and eight prosthesis users with a transradial amputation on the left side participated in MoCap sessions. They performed ROM and activities of daily living (ADL) tasks. The methods proposed here incorporate patient's anthropometrics, such as height, limb lengths, and degree of amputation, to create an upper body kinematic model. The model has 23 degrees-of-freedom (DoFs) to reflect a human upper body and it can be adjusted to reflect levels of amputation. The weighting factors resulted from this process showed how joints are prioritized during each task. The physical meaning of the weighting factors is to demonstrate which joints contribute more to the task. Since the motion is distributed differently between able-bodied individuals and prosthesis users, the weighting factors will shift accordingly. This shift highlights the compensatory motion that exist on prosthesis users. The results show that using a set of optimized joint prioritization weights for each specific task gave the least RMS error compared to common optimized weights. The velocity-based weights had a slightly higher RMS error than the task optimized weights but it was not statistically significant. The biggest benefit of that weight set is their simplicity to implement compared to the optimized weights. Another benefit of the velocity based weights is that they can explicitly show how mobile each joint is during a task and they can be used alongside the ROM to identify compensatory motion. The inclusion of task joint limits gave lower RMS error when the joint movements were similar across subjects and therefore the ROM of each joint for the task could be established more accurately. When the joint movements were too different among participants, the inclusion of task limits was detrimental to the simulation. Therefore, the static set of task specific optimized weights was found to be the most accurate and robust method. However, the velocity-based weights method was simpler with similar accuracy. The methods presented here were integrated in a previously developed graphical user interface (GUI) to allow the clinician to input the data of the prospective prosthesis users. The simulated motions can be presented as an animation that performs the requested task. Ultimately, the final animation can be used as a proposed kinematic strategy that a prosthesis user and a clinician can refer to, during the rehabilitation process as a guideline. This work has the potential to impact current prosthesis prescription and training by providing personalized proposed motions for a task.

One of the main advantages of the Gantry-Tau machine is a large accessible workspace\footprint ratio compared to many other parallel machines. The Gantry-Tau improves this ratio further by allowing a change of assembly mode without internal link collisions or collisions between the links and the moving TCP platform. In this Thesis some of the features of the Gantry-Tau structure are described and results are presented from the analysis of the kinematic, elastostatic and elastodynamic properties of the PKM. However, the optimal kinematic, elastostatic and elastodynamic design parameters of the machine are still difficult to calculate and this thesis introduces a multi-objective optimisation scheme based on the geometric approach for the workspace area, unreachable area, joint angle limitations and link collisions as well as the functional dependencies of the elements of the static matrix and the Laplace transform to define the first resonance frequency and Cartesian and torsional stiffness. The method to calculate the first resonance frequency assumes that each link and universal joint can be described by a mass-springdamper model and calculates the transfer function from a Cartesian (TCP) force or torque to Cartesian position or orientation. The geometric methods involve the simple geometric shapes (spheres, circles, segments, etc) and vectors. The functional dependencies are based on the properties between the kinematic parameters. These approaches are significantly faster than analytical methods based on the inverse kinematics or the general Finite Elements Method (FEM). The reconfigurable Gantry-Tau kinematic design obtained by multi-objective optimisation gives the following features: • Workspace/footprint ratio more than 3.19. • First resonance frequency greater than 48 Hz. • Lowest Cartesian stiffness in the workspace 5N/μm. • The unreachable space in the middle of the workspace is not detected. • No link collisions. The results show that by careful design of the PKM, a collision free workspace without the unreachable area in the middle can be achieved. High stiffness and high first resonance frequency are important parameters for the the Gantry-Tau when used in industrial applications, such as cutting, milling and drilling of steel or aluminium and pick-and-place operations. These applications require high static and dynamic accuracy in combination with high speed and acceleration. The optimisation parameters are the support frame lengths, actuator positions,endeffector kinematics and the robot’s arm lengths. Because of the fast computational speed of the geometric approaches and computational time saving of the methods based on the functional dependency, they are ideal for inclusion in a design optimisation framework, normally a nonlinear optimisation routine. In this Thesis the evolutionary algorithm based on the complex search method is used to optimise the 3-DOF Gantry-Tau. The existing lab prototype of this machine was assembled and completed at the University of Agder

Robotics has been considered as a viable automation solution for the aerospace industry to address manufacturing cost. Many of the existing robot systems augmented with guidance from a large volume metrology system have proved to meet the high dimensional accuracy requirements in aero-structure assembly. However, they have been mainly deployed as costly and dedicated systems, which might not be ideal for aerospace manufacturing having low production rate and long cycle time. The work described in this thesis is to provide technical solutions to improve the flexibility and cost-efficiency of such metrology-integrated robot systems. To address the flexibility, a software framework that supports reconfigurable system integration is developed. The framework provides a design methodology to compose distributed software components which can be integrated dynamically at runtime. This provides the potential for the automation devices (robots, metrology, actuators etc.) controlled by these software components to be assembled on demand for various assembly applications. To reduce the cost of deployment, this thesis proposes a two-stage error compensation scheme for industrial robots that requires only intermittent metrology input, thus allowing for one expensive metrology system to be used by a number of robots. Robot calibration is employed in the first stage to reduce the majority of robot inaccuracy then the metrology will correct the residual errors. In this work, a new calibration model for serial robots having a parallelogram linkage is developed that takes into account both geometric errors and joint deflections induced by link masses and weight of the end-effectors. Experiments are conducted to evaluate the two pieces of work presented above. The proposed framework is adopted to create a distributed control system that implements calibration and error compensation for a large industrial robot having a parallelogram linkage. The control system is formed by hot-plugging the control applications of the robot and metrology used together. Experimental results show that the developed error model was able to improve the 3 positional accuracy of the loaded robot from several millimetres to less than one millimetre and reduce half of the time previously required to correct the errors by using only the metrology. The experiments also demonstrate the capability of sharing one metrology system to more than one robot.

This Thesis presents the results of a study of the "High Zagros", the most internal part of the Zagros-Fold-Thrust-Belt (ZFTB). On map view, the High Zagros is exposed in two separated domains (Western and Eastern High Zagros respectively) and partly hidden as an under-plated region beneath the Sanandaj-Sirjan Domain. The High Zagros is the only place in the ZFTB where the Paleozoic rocks are widely exposed.A primary objective was to reevaluate the structural style and kinematic evolution of the High Zagros. It is shown that the most significant geological elements within this area are large scale faulted detachment folds, associated with a complex system of thrust faults segmented by strike-slip faults. This work suggests that the existence of active Ordovician and/or Silurian décollements led to the development of duplex structures which are confined in the core of the anticlines. A two-step kinematic scenario, similar to the one already proposed elsewhere in the belt, is proposed for the High Zagros. Firstly, a thin-skinned phase led to establish detachment folding over the basal Hormuz salt. Then, a thick-skinned phase resulted in the basement thrusting and allowed the exhumation of Lower Paleozoic succession.After this presentation of the tectonic context of the High Zagros, the thesis focuses on the tectonic significance of the pre-Permian unconformity, which was known through a major hiatus between Cambro-Ordovicien to Early Permian and between Devonian to Permian rocks in the western and eastern High Zagros respectively. It is shown that (1) the High Zagros presents below the unconformity a large "Arch-and-Basin" geometry; and that (2) only extensional features such as normal faults and rotated blocks, without evidence of contractional deformation, can be observed below the unconformity. Thermal uplift of possible Late Devonian is proposed as a probable mechanism explaining both the uplift and the diffuse extensional deformation. This proposal strongly modifies the "classical" interpretation of the pre-Permian hiatus as a far effect of the Variscan Orogeny.Thermal modeling based on maturity data from potential source rocks cropping out in the High Zagros has been performed. The most probable modeled scenario suggests an important heat flow during the Devonian and the erosion of ~3900m of the sedimentary pile prior to the deposition of Permian sequence. This outcome reinforces our interpretation of a thermal uplift scenario responsible for pre-Permian vertical movements. On the other hand, a set of new (U-Th)/He ages obtained from the Lower Paleozoic, Devonian and early Permian clastic rocks show a partial reset of zircon grains. These two results are fairly consistent with the published data describing a major thermo-tectonic event during Late Devonian-Early Carboniferous in the Levant Arch (Israel, Jordan) and suggest a common mechanism at the scale of the Arabian Plate.