In this paper, a family of hybrid control algorithms is presented; where it is merged a free camera-calibration image-based control scheme and a direct force controller, both with the same priority level. The aim of this generalised hybrid controller is to regulate the robot-environment interaction into a two-dimensional task-space. The design of the proposed control structure takes into account most of the dynamic effects present in robot manipulators whose inputs are torque signals. As examples of this generalised structure of hybrid force/vision controllers, a linear proportional-derivative structure and a nonlinear proportional-derivative one (based on the hyperbolic tangent function) are presented. The corresponding stability analysis, using Lyapunov's direct method and invariance theory, is performed to proof the asymptotic stability of the equilibrium vector of the closed-loop system. Experimental tests of the control scheme are presented and a suitable performance is observed in all the cases. Unlike most of the previously presented hybrid schemes, the control structure proposed herein achieves soft contact forces without overshoots, fast convergence of force and position error signals, robustness of the controller in the face of some uncertainties (such as camera rotation), and safe operation of the robot actuators when saturating functions (non-linear case) are used in the mathematical structure. This is one of the first works to propose a generalized structure of hybrid force/vision control that includes a closed loop stability analysis for torque-driven robot manipulators.
The influence of olfactory and visual stimuli on the mating behaviour of Theresimima ampellophaga males was investigated in the field. A female model attached to a pheromone source significantly increased the number of males contacting and showing copulatory responses compared to their reaction to a pheromone stimulus alone. The pheromone stimulus was the primary factor releasing male copulatory behaviour, independent of the spatial arrangement of olfactory and visual cues. The role of the visual cues decreased with increasing distance between visual and olfactory cues. The reaction of males to pairs of models with different characteristics of conspecific females, in combination with a pheromone source placed 2 cm upwind from the center of the line between each pair of models, was compared. The size and shape of the female seemed not to be important, while the colour, posture, sex and species belongings significantly influenced the male's mating reaction.
In the highly sexual-dimorphic nocturnal moth, Acentria ephemerella Denis & Schiffermüller 1775, the aquatic and wingless female possesses a refracting superposition eye, whose gross structural organization agrees with that of the fully-winged male. The possession of an extensive corneal nipple array, a wide clear-zone in combination with a voluminous rhabdom and a reflecting tracheal sheath are proof that the eyes of both sexes are adapted to function in a dimly lit environment. However, the ommatidium of the male eye has statistically significantly longer dioptric structures (i.e., crystalline cones) and light-perceiving elements (i.e., rhabdoms), as well as a much wider clear-zone than the female. Photomechanical changes upon light/dark adaptation in both male and female eyes result in screening pigment translocations that reduce or dilate ommatidial apertures, but because of the larger number of smaller facets of the male eye in combination with the structural differences of dioptric apparatus and retina (see above) the male eye would enjoy superior absolute visual sensitivity under dim conditions and a greater resolving power and ability to detect movement during the day. The arrangement of the microvilli in the rhabdom of both genders suggests that their eyes are polarization-sensitive, an ability they would share with many aquatic insects that have to recognize water surfaces. Although sexual recognition in A. ephemerella is thought to chiefly rely on pheromones, vision must still be important for both sexes, even if the females are wingless and never leave their watery habitat. Females swim actively under water and like their male counterparts, which fly above the surface of the water, they would have to see and avoid obstacles as well as potential predators. This, together with a small incidence of winged females, we believe, could be the reason why the eyes of female A. ephemerella are less regressed than those of other sexually dimorphic moths, like for instance Orgyia antiqua. Another, but difficult to test, possibility is that male and female A. ephemerella have diverged in their behaviour and habitat preferences less long ago than other sexually dimorphic moths.
Zbarvení hraje v životě zvířat zásadní roli a je často pod přísným dohledem přírodního a/nebo pohlavního výběru. Abychom mohli objektivně zhodnotit jeho vliv na životní strategie zvířat, je zaprvé důležité barvu správně měřit a zadruhé nahlížet na ni zrakovým aparátem zainteresovaného pozorovatele. Obě tyto metody popisujeme na příkladu ptáků, konkrétně hodnocení mimeze parazitických vajec., Colouration plays a very important role in the life of animals and its evolution is often under natural and/or sexual selection. For objective assessment of the influence of colouration on animal life strategies the colour should be measured properly and evaluated from the perspective of the studied species. These methods are briefly described based on the example of birds, specifically on the mimicry of parasitic eggs., and Michal Šulc, Marcel Honza.
The four decades of breath-taking political and economic changes in China raise a host of questions about the governance of this, in many ways unique, world power. The authors analyse the economic, political and historical context of the origins and operation of the present-day Chinese political model, the country’s legal system and the role of the Communist Party in the Chinese society, similar in many ways to the role previously played by China’s imperial dynasties. They also highlight the new trends in Chinese domestic politics and foreign policy of the late 2010s, which bear witness to a sustained effort of the Chinese political leadership to enhance China’s great-power status on the global stage., Miloš Balabán, Michal Tomášek., and Obsahuje bibliografické odkazy
Structure and photomechanical changes upon light/dark adaptation in the superposition compound eyes of the highly sexually dimorphic Orygia antiqua were studied by light and electron microscopy. The eyes of the fully winged male differ from those of the wingless, sedentary female in several respects: they are significantly larger, display a more regular ommatidial array, have a wider clearzone and possess a much more substantial tracheal tapetum. However, the eyes of the female exhibit more pronounced photomechanical changes upon light/dark adaptation than those of the male. We believe that for females, on account of their limited mobility, it is necessary that their eyes can cope with widely fluctuating brightnesses, but that visual sensitivity and resolving power are less important to them than to the actively flying males. Although the latter may be attracted to the females by pheromones, males in their diurnal searches will have to visually avoid obstacles and predators. Moreover, because of their ability to fly, males can seek shelters or shaded areas and unlike the sedentary females avoid prolonged exposures to potentially hazardous light levels. This could explain why the eyes of the females exhibit more pronounced photomechanical responses to changes in ambient light levels.
We studied visual orientation and perching behaviour of a territorial libellulid dragonfly species, Libellula quadrimaculata. The studies were performed during sunny, cloudless conditions at a pond in southern Styria, Austria, from May to July of 2001 and 2002. Individual males were observed for periods of 3 to 4 weeks.
We measured dragonfly's horizontal orientation relative to the solar azimuth, and vertical orientation relative to the solar altitude. The measurements indicated that the males had a favourable view of the sky during perching. In addition, the relative amounts of ultraviolet (UV) and blue-violet radiation in scattered light (not direct sunlight) were calculated for the whole sky and for the section of the sky viewed by the fovea. Our results show that the dorsal fovea is directed preferentially toward a section of the sky away from the sun, with less radiation but a higher UV and blue-violet saturation.
The present findings fit in well with the hypothesis, based on optical and physiological data, that the fovea, which is sensitive only to blue and UV radiation, is optimally suited to the detection of small, rapidly flying insects against the blue sky. The findings supply the first behavioural correlates of this foveal specialisation.
Ectoedemia argyropeza (Zeller, 1839) possesses a compound eye that exhibits features of both apposition and superposition type eyes. Like apposition eyes, the eye of E. argyropeza lacks a clear-zone, which in superposition eyes separates the distal dioptric from the proximal light-perceiving structures. On the other hand, a tracheal layer around the proximal ends of the rhabdom as well as a well-developed corneal nipple array on the corneal surfaces are features that E. argyropeza shares with the larger moths. Unique, and so far only seen to this extreme degree in any insect, is the hourglass-shape of E. argyropeza's rhabdom, in which two almost equally voluminous regions (one distal, one proximal and formed in both cases by seven rhabdomeres) are connected by a narrow waist-like region of the retinula. An eighth retinula cell, not participating in rhabdom formation, is developed as a basal cell, just above the basement membrane. The eye responds with photomechanical changes to dark/light adaptation, but while the proximal rhabdom moiety slightly expands (as expected) in the dark, the distal rhabdom increases its diameter only upon light-adaptation. Owing to the tandem position of the two rhabdom moities, it is in the light-adapted state that the distally-placed rhabdom is favoured, while the proximal rhabdom plays a more important role at low ambient light levels. With screening pigments withdrawn, tracheal tapetum exposed, and distal rhabdom diameters reduced, the proximal and in the dark enlarged rhabdom is then in a position to capture photons that have entered the eye through not only the ommatidial window above, but other facets as well even in the absence of a clear-zone and superposition optics.
Mnoho skupin živočichů disponuje zrakem citlivým na tzv. ultrafialové světlo. Jednou z takových skupin jsou i různí opylovači, kteří nám dobře známé květy mohou vidět v trochu odlišných barvách, než my. Na květech rostlin totiž často existují vzory patrné pouze v ultrafialové části spektra, které jsou pro člověka neviditelné. V první části seriálu o výskytu a významu těchto vzorů u rostlin se zabývá historií odhalování citlivosti živočichů na ultrafialové světlo, přibližuje otázky, jak funguje zrak a jakým způsobem ultrafialové zbarvení na povrchu organismů vzniká., The vision of many animal groups is sensitive to the so-called ultraviolet (UV) light. These groups include various pollinators, which may see flowers that are quite familiar to us in a different coloration. That is because flowers often feature patterns visible only in the UV part of the spectrum, and thus invisible to humans. This series deals with the occurrence of such patterns and their significance for plants. The first part recounts the history of discovering the sensibility of animals to UV light, expounds on the way how vision works, explains the origin of UV coloration on organismal surfaces., and Pavel Pecháček.