This paper describes the spatial three-dof 3-SUR 1-RU spherical Parallel Platform Robot. This type of robot has been previously proposed by other authors, but the present design, platform-mounted actuators, and application are unique. Further, the inverse kinematics problem is solved analytically. This robot is under development at Ohio University to serve as the active orienting device for aerodynamic testing of unmanned aerial vehicles (UAV) with up to 3 m wingspan. The UAV will be tested on a Windmobile which is a ground vehicle that is driven with the test article on an instrumented truss extended in the front in an undisturbed flow field. This system is an inexpensive substitute for a large-scale wind tunnel for measuring aerodynamic parameters of the UAV. The three-degrees-of-freedom (dof) of the platform robot are actively controlled by three servomotors (R joints) mounted to the underside of the moving platform and there is a passive fourth middle leg with passive R-U joints for support. The inverse orientation kinematics (IOK) problem is formulated and solved analytically in this paper. Given the three desired Euler Angles, the three required actuator angles are found. Geometrically this analytical solution is equivalent to finding the intersection point of two circles on different planes, independently for each of the three platform robot legs. The analytical solution requires finding the roots of a quartic polynomial. There are at most two real solutions (elbow-up and elbow-down) which means that there are always at least two imaginary solutions to the IOK problem, which are discarded. Examples are presented to demonstrate the platform robot IOK solution algorithm for use in practical platform robot control.

Previous analysis of mtDNA control region (CR) sequence variability for grey wolf population from BosniaH He=0.76), similar to other populations belonging to the grey wolf Dinaric-Balkan population. STRUCTURE analysis showed differentiation into two genetic clusters. These results are important for future management plans and estimation of the conservation units.

This document describes a new class, itk::RLEImage, which uses run-length encoding to reduce the memory needed for storage of label maps. This class is accompanied by all the iterators to make it a dropin replacement for itk::Image. By changing the image typedef to itk::RLEImage, many ITK image processing algorithms build without modification and with minimal performance overhead. However, it is not possible if the user code uses GetBufferPointer() or otherwise assumes a linear pixel layout.This class is implemented to reduce the memory use of ITK-SNAP (www.itksnap.org), so ITKSNAP is the base for measuring the quantitative results.The class, accompanying iterator specializations, automated regression tests, and test data are all packaged as an ITK remote module https://github.com/KitwareMedical/ITKRLEImage.

This document describes a new class, itk::MorphologicalContourInterpolator, which implements a method proposed by Albu et al. in 2008. Interpolation is done by first determining correspondence between shapes on adjacent segmented slices by detecting overlaps, then aligning the corresponding shapes, generating transition sequence of one-pixel dilations and taking the median as result. Recursion is employed if the original segmented slices are separated by more than one empty slice.This class is n-dimensional, and supports inputs of 3 or more dimensions. `Slices’ are n-1-dimensional, and can be both automatically detected and manually set. The class is efficient in both memory used and execution time. It requires little memory in addition to allocation of input and output images. The implementation is multi-threaded, and processing one of the test inputs takes around 1-2 seconds on a quad-core processor.The class is tested to operate on both itk::Image and itk::RLEImage. Since all the processing is done on extracted slices, usage of itk::RLEImage for input and/or output affects performance to a limited degree.This class is implemented to ease manual segmentation in ITK-SNAP (www.itksnap.org). The class, along with test data and automated regression tests is packaged as an ITK remote module https://github.com/KitwareMedical/ITKMorphologicalContourInterpolation.

Several phenolic acids (PAs), caffeic, vanillic, syringic, p-coumaric and ferulic acid, found in Slovenian red wines were studied using gas chromatography and mass spectrometry. For isolation of the PAs from wine samples, solid phase extraction using hydrophilic modified styrene - HLB cartridges was used. The bound PAs were extracted after basic hydrolysis and o-coumaric acid was used as the internal standard. The developed method was validated and the linear concentration range for all analytes was from 1 to 100 mg L-1 with correlation coefficients above 0.999. We show that the method is repeatable (RSD<2%), recoveries were above 96%, and LOD and LOQ values were acceptable. In all of the wine samples tested, caffeic and p-coumaric acid were determined to be the predominant PAs (17-72 mg L-1), while other compounds were found in lower concentrations. Principal Component Analysis and Cluster Analysis were used to study differences between wines related towards varieties and Slovenian wine regions. The results demonstrate that variety has more influence on PAs content than wine regions in Slovenian red wines.