Riistvarapaindlik ROSi tarkvarapakett tööstuslike robotite mööndlikuks juhtimiseks

Industrial robotics today is moving towards using lightweight collaborative robots to make it possible for small and medium sized enterprises to integrate robots in their manufacturing environment. However, there is still very few collaborative robots seen in the industry and the main reason is that programming of the robot is still too expensive and time-consuming, since there are too few ready solutions available today for controlling co-robots. The solution would be more available open source, maintainable, extendable and usable high-quality code for controlling co-robots. This thesis concentrates on developing such complete software bundle on ROS for compliant control for industrial collaborative manipulators

Robotmannekeeni kattele rõhutundlikkuse lisamise võimaluste uurimine

Et mugavdada internetist riiete ostmist ning säästa loodust ja raha rõivaste tagastuse arvelt, on leiutatud virtuaalne riietusruum, mis tekitatakse kasutades robotmannekeeni. Inimestele, kes internetist riideid soetavad, on tarvis anda riide kohta võimalikult palju tagasisidet, kõige enam seda, kuidas see riie talle selga sobib. Visuaalselt on küll võimalik sobivust hinnata, kuid seda, kas riie on kitsas või mitte, pole alati läbi arvuti kuvari võimalik kindlaks teha. Käesoleva bakalaureuse töö sihiks on teha esimesed sammud mannekeeni rõhutundlikku katte arendamiseks. Katte enda põhieesmärgiks on mõõta riide mõju keha pinnale, et seda infot visuaalselt edastada. Töö käigus arendati esmane prototüüp rõhutundlikkust kattest. Arendamise hulka kuulus surveandurite ning nende lugemise meetodi valimine, elektroonika kuueteistkümne anduri korraga lugemiseks ning graafiline kasutajaliides visualiseerimaks ja talletamaks andurite näitusid. Tänu valmistatud seadmele ning tarkvarale oli võimalik teha järeldused ning soovitused mannekeeni rõhutundliku katte edasi arendamiseks. Järgmiseks sammuks oleks andurite mõõtepiirkonna suurendamine tarkvaraliseks kalibreerimiseks ning anduritest tervikliku ja ühtlase katte loomine. Rõhutundlikkusele ilmnes peale riide mõju visualiseerimisele ka teisi võimalikke rakendusi, näiteks riide välja venitamise vältimine ja riide maksimaalsete keha mõõtmete määramine

Student reflections on enabling success and overcoming barriers

In October 2024, students from five Australian universities participated in a panel session of AALL’s professional development series, “Connect. Inspire. Share.” (aall.org.au/connect-inspire-share-catalogue-2/). Here, three of them summarise their reflections on how they have succeeded despite barriers to study, and the role of individual consultations with Learning Advisers in their success

A time for sex: circadian regulation of mammalian sexual and reproductive function

The circadian clock regulates physiological and biochemical processes in nearly every species. Sexual and reproductive behaviors are two processes controlled by the circadian timing system. Evidence supporting the importance of proper clock function on fertility comes from several lines of work demonstrating that misalignment of biological rhythms or disrupted function of the body’s master clock, such as occurs from repeated shift work or chronic jet lag, negatively impacts reproduction by interfering with both male and female fertility. Along these lines, dysregulation of clock genes leads to impairments in fertility within mammals, and disruption of circadian clock timing negatively impacts sex hormone levels and semen quality in males, and it leads to ovulatory deficiencies in females. Here, we review the current understanding of the circadian modulation of both male and female reproductive hormones—from animal models to humans. Further, we discuss neural circuits within the hypothalamus that may regulate circadian changes in mammalian sexual behavior and reproduction, and we explore how knowledge of such circuits in animal models may help to improve human sexual function, fertility, and reproduction

Inimese Y-kromosomaalse haplogrupi R1a sisestruktuuri ja fülogeograafia täpsustamine

2017-01-0

[XVIII-Wagner] Assumpció de la Mare de Déu

Escenes hagiogràfique

John Tyler's lamentation /

In bound volumes: Copyright Deposits 1820-186

From molecular diagrams to material properties: investigation of data-driven tools and strategies in the field of Chemoinformatics

The field of Chemoinformatics has enabled QSAR/QSPR predictive models useful for the rapid virtual assessment of compounds or mining knowledge that may contribute towards the understanding of chemical systems. However, scepticism remains about the practical value of these approaches: models often exhibit limited predictive power, low generalisation capacity, and vague interpretability. More broadly, the field faces a general lack of consistency of results and procedures. This thesis addresses some of these challenges and explores new solutions to the field. First, standard protocols are used to explore the challenges of building chemical datasets suitable for statistical learning and understanding limitations of the predictive power of models. Here, the challenges of dataset curation and improvements to molecular structure description are explored. A library of new descriptors is built and assessed, which cleanly captures some information about crystallizability, but did not lead to measurable performance improvements of the models studied. The lack of relevant information content of some chemical datasets is reviewed, and strategies developed to increase the value of low-accuracy models: I report the generalisability and confidence tools and methodologies designed to restrict model predictions to inputs within their applicability domain. Illustrative implementations led to performance increases of up to 11% points of our predictive models. Finally, attempts are made to derive insights about structure-property relationships from chemoinformatics models. I develop a feature selection strategy which identifies the descriptors that influence a model’s predictions, and an interpretation method that identifies useful changes to a molecule to control predicted properties. Insights such as the correlation between the higher crystallization propensity of molecules and the lower volume and flexibility of molecules are identified. This work contributes towards the motivation and development of general-purpose open-source solutions which are key to add consistency in the field, increasing trust, and leveraging QSPR models to their full potential