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Kinematic analysis of flexible bipedal robotic systems

Applied Mathematics and Mechanics(English Edition) 2024年第5期45卷 795-818页

作者： R.FAZEL A.M.SHAFEI S.R.NEKOO department of Mechanical Engineering Shahid Bahonar University of KermanKerman ***Iran departamento de ingenieria de Sistemas y Automatica Escuela Técnica Superior de IngenieriaUniversidad de SevillaSeville 41092Spain

In spite of its intrinsic complexities,the passive gait of bipedal robots on a sloping ramp is a subject of interest for numerous researchers.What distinguishes the present research from similar works is the consideration of flexibility in the constituent links of this type of robotic systems.This is not a far-fetched assumption because in the transient(impact)phase,due to the impulsive forces which are applied to the system,the likelihood of exciting the vibration modes increases considerably.Moreover,the human leg bones that are involved in walking are supported by viscoelastic muscles and ligaments.Therefore,for achieving more exact results,it is essential to model the robot links with viscoelastic properties.To this end,the Gibbs-Appell formulation and Newton's kinematic impact law are used to derive the most general form of the system's dynamic equations in the swing and transient phases of motion.The most important issue in the passive walking motion of bipedal robots is the determination of the initial robot configuration with which the system could accomplish a periodic and stable gait solely under the effect of gravitational force.The extremely unstable nature of the system studied in this paper and the vibrations caused by the impulsive forces induced by the impact of robot feet with the inclined surface are some of the very serious challenges encountered for achieving the above-mentioned goal.To overcome such challenges,an innovative method that uses a combination of the linearized equations of motion in the swing phase and the algebraic motion equations in the transition phase is presented in this paper to obtain an eigenvalue problem.By solving this problem,the suitable initial conditions that are necessary for the passive gait of this bipedal robot on a sloping surface are determined.The effects of the characteristic parameters of elastic links including the modulus of elasticity and the Kelvin-Voigt coefficient on the walking stability of this type of robotic systems are also studied.The findings o

关键词： bipedal robot flexible link swing phase transient phase eigenvalue problem Kelvin-Voigt coefficient

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Cotton pads-derived carbon materials/reduced graphene oxide modified with polypyrrole for electrode of supercapacitors

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Journal of Energy Chemistry 2024年第7期94卷 41-53页

作者： Ofelia MArias-Pinedo Elvis OLopez Ivonne EMonje RSoria-Martinez Antony Bazan-Aguilar Clemente Alfredo Luyo Caycho Gabriel Angel Planes Angelica Maria Baena-Moncada Laboratorio de Investigacion de Electroquimica Aplicada Facultad de Ciencias de la Universidad Nacional de IngenieriaAv.Tupac Amaru 210RimacLimaPeru department of Experimental Low Energy Physics Brazilian Center for Research in Physics(CBPF)Rio de Janeiro22290-180Brazi Universidad Tecnologica del Peri Av.Arequipa 26515046 LimaPeru Centeror theevelopmentof Adanced Materials and Nanotechlogy Universidad NacionaldeIngeneria33LimaP departamento de Quimica Universidad Nacional de Rio CuartoInstituto de Investigaciones en Tecnologias Energeticas y Materiales Avanzados(IITEMA)Ruta Nac.36Km 601(X5804BYA)RioCuartoCordobaArgentina

This study investigates the influence of electropolymerization conditions on the deposition of polypyrrole(PPy)onto cotton-derived carbon fiber(CF)modified with reduced graphene oxide(rGO)for supercapacitors applications using an experimental/theorical approach.The surface modification of CF by rGO and/or by PPy electrodeposited at 10,25 and 50 mV s^(-1) was thoroughly examined physicochemical and electrochemically.Composite electrodes comprising CF-rGo-PPy,synthesized via electropolymerization at 25 mV s^(-1),demonstrated a remarkable increase in capacitance,showcasing~742 F g^(-1) compared to 153 F g^(-1) for CF.SEM,N_(2)-surface area,XPS,and TD-DFT approach revealed that the higher capacitance observed in CF-rGo-PPy electrodes underscores the influence of morphology and charged nitrogen species on the electrochemical performance of these modified electrodes.Notably,this electrode material achieves a specific capacitance retention of~96%of their initial capacitance after 10000 cycles at 0.5 A g^(-1) measured in a two-electrodes cell configuration.This work also discusses the influence of the scan rate used for pyrrole electropolymerization on the pseudocapacitance contribution of PPy and its possible effect on the porosity of the material.These results highlight the importance of appropriate electropolymerization conditions that allow obtaining the synergistic effect between CF,rGO and PPy.

关键词： Supercapacitors Cotton pads-derived carbon fibers rGO PPy TD-DFT

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Spatiotemporal oxygen dynamics in young leaves reveal cyclic hypoxia in plants

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Molecular Plant 2024年第3期17卷 377-394页

作者： Paolo M.Triozzi Luca Brunello Giacomo Novi Gianmarco Ferri Francesco Cardarelli Elena Loreti Mariano Perales Pierdomenico Perata PlantLab Center of Plant SciencesSant'Anna School of Advanced Studies56010 PisaItaly Centro de Biotecnologia y Genomica de Plantas Universidad Politecnica de Madrid(UPM)-Instituto Nacional de Investigacion y Tecnologia Agraria y Alimentaria(INIA-CSIC)Campus de Montegancedo UPMPozuelo de Alarcon28223 MadridSpain Fondazione Pisana per la Scienza 56017 PisaItaly Laboratorio NEST Scuola Normale SuperioreIstituto Nanoscienze-CNRPiazza S.Silvestro1256127 PisaItaly institute of Agricultural Biology and Biotechnology National Research Council56124 PisaItaly departamento de Biotecnologia-Biologia Vegetal Escuela Tecnica Superior de Ingenieria AgronomicaAlimentaria y de BiosistemasUniversidad Politecnica de Madrid(UPM)28040 Madrid.Spain

Oxygen is essential for plant growth and development.Hypoxia occurs in plants due to limited oxygen avail-abilityfollowing adverse environmental conditions as well inhypoxic niches in otherwisenormoxic environ-ments.However,the existence and functional integration of spatiotemporal oxygen dynamics with plant development remains unknown.In animal systems dynamic fluctuations in oxygen availability are known as cyclic hypoxia.In this study,we demonstrate that cyclic fluctuations in internal oxygen levels occur in young emerging leaves of Arabidopsis plants.Cyclic hypoxia in plants is based on a mechanism requiring the ETHYLENE RESPONSE FACTORS type VII(ERFVII)that are central components of the oxygen-sensing machinery in plants.The ERFVll-dependent mechanism allows precise adjustment of leaf growth in response to carbon status and oxygen availability within plant cells.This study thus establishes a functional connection between internal spatiotemporal oxygen dynamics and developmental processes of plants.

关键词： Arabidopsis hypoxia cyclic hypoxia leaf development oxygen-sensing mechanism ERFVII

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Distribution and Relation of Primes with Tesla Numbers 3, 6, and 9

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Journal of Applied Mathematics and Physics 2024年第4期12卷 1021-1027页

作者： Javier Mendoza-Navarrete Huetzin Perez Ismael Ojeda Victor Verdugo Gabriel Luna Sandoval Ricardo Jimenez Garcia Jaime Alvarez departametno de Matemá ticas CBTis 256 DGETI Cabo San Lucas M&#233xico DCI departamento de fisica Mé dica Universidad de Guanajuato Leon M&#233xico Divisió n de Ingenieria en Sistemas Computacionales Tecnol&#243gico Nacional de M&#233xico ITES Los Cabos Cabo San Lucas M&#233xico departamento de ingenieria Industrial en Manufactura Universidad Estatal de Sonora Navojoa M&#233xico departamento de Elé ctrica-Electr&#243nica Tecnol&#243gico Nacional de M&#233xico Campus Mexicali Mexicali M&#233xico Guanajuato M&#233xico

This work presents a different approach to twin primes, an approach from the perspective of the Tesla numbers and gives a refresh and new observation of twin primes that could lead us to an answer to the Twin Prime Conjecture problem. We expose a peculiar relation between twin primes and the generation of prime numbers with Tesla numbers. Tesla numbers seem to be present in so many domains like time, vibration and frequency [1], and the space between twin primes is not the exception. Let us say that twin primes are more than just prime numbers plus 2 or minus 2, and Tesla numbers are more involved with twin primes than we think, and hopefully, this approach give us a better understanding of the distribution of the twin pairs.

关键词： Tesla Numbers Prime Number Twin Prime Numbers Twin Pair

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Recent Advances on Early-Stage Fire-Warning Systems: Mechanism, Performance, and Perspective

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Nano-Micro Letters 2022年第12期14卷 106-136页

作者： Xiaolu Li Antonio Vazquez-Lopez Jose Sanchez del Rio Saez de-Yi Wang IMdeA Materials Institute C/Eric Kandel228906 GetafeMadridSpain E.T.S.de Ingenieros de Caminos Universidad Politecnica de MadridCalle Profesor Aranguren 328040 MadridSpain departamento de ingenieria Electrica Electronica Automatica y Fisica AplicadaETSIDIUniversidad Politecnica de MadridRonda de Valencia 328012 MadridSpain

Early-stage fire-warning systems(EFWSs)have attracted significant attention owing to their superiority in detecting fire situations occurring in the pre-combustion process.Substantial progress on EFWSs has been achieved recently,and they have presented a considerable possibility for more evacuation time to control constant unintentional fire hazards in our daily life.This review mainly makes a comprehensive summary of the current EFWSs,including the working mechanisms and their performance.According to the different working mechanisms,fire alarms can be classified into graphene oxide-based fire alarms,semiconductor-based fire alarms,thermoelectric-based fire alarms,and fire alarms on other working mechanisms.Finally,the challenge and prospect for EFWSs are briefly provided by comparing the art of state of fire alarms.This work can propose a more comprehensive understanding of EFWSs and a guideline for the cutting-edge development direction of EFWSs for readers.

关键词： Smart thermosensitive fire sensors Working mechanism Response time Signal conversion

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Semantic framework of event detection in emergency situations for smart buildings

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Digital Communications and Networks 2022年第1期8卷 64-79页

作者： Yudith Cardinale Gabriel Freites Edgar Valderrama Ana Aguilera Chinnapong Angsuchotmetee departamento de Computacidn Universidad Simon BolivarCaracasVenezuela Escuela de ingenieria Informatica Universidad de ValparaisoValparaisoChile Faculty of Science Prince of Songkla University Thailand

Multimedia Sensor Networks(MSNs)have enhanced the ability to analyze the environment and provide responses based on its current status.Generally,MSNs are composed of scalar and multimedia sensors that have fixed locations.However,given the advancement of smart mobile device technologies,it is currently possible to dynamically integrate mobile sensors into MSNs.In this paper,we propose a formal platform to manage MSNs and the data gathered from them to detect complex events.Our main contributions include:M^(2)SSN-Onto,a Mobile and Multimedia Semantic Sensor Networks Ontology;Py-CEMiD,an engine for detecting complex events and generate reactions to them;a mobile device location engine to locate mobile sensors;and a proof-of-concept in the context of detecting emergency situations in smart buildings.Several scenarios are validated for emergency events,combining simulated sensor measurements with real measurements of mobile devices.Results show complex events can be detected in near real time(less than 1 s).

关键词： Multimedia sensor network Semantic web Event processing Ontology Geolocalisation

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Building geometry data from online maps for accurate thermal simulations of districts

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建筑模拟(英文) 2023年第9期16卷 1659-1674页

作者： Laura Romero Rodríguez JoséSánchez Ramos ServandoÁlvarez Domínguez Grupo Termotecnia.departamento de Máquinas y Motores Térmicos University of CádizPuerto RealCádizSpain Grupo Termotecnia.departamento de ingenieria Energética University of SevilleSevilleSpain

Current approaches for simulating the energy performance of buildings on a large scale are limited by numerous assumptions and simplifications,which can lead to inaccurate estimations.While new tools and procedures are emerging to improve accuracy,there remains a need for more user-friendly methods.This study proposes a new tool based on online maps to create the geometry of districts in a simple way.The tool also enables an automatic evaluation of all buildings through dynamic hourly simulations,using a building simulation software and allowing to consider different weather conditions.To illustrate the procedure,a district at risk of energy poverty in Seville(Spain)is modeled,where hourly temperature data for a whole year are available to demonstrate the need for building improvements.The tool is used to evaluate the energy demands of the district under several retrofitting alternatives,and free-floating simulations are also performed to evaluate the improvement of thermal comfort without air-conditioning systems.The aim is not to discuss the actual values for this particular case,but rather to identify the correct direction for large-scale studies,so as to make them more easily conducted.Overall,it may be concluded that the results provided by comprehensive tools,such as the one proposed in this study,enable easy yet accurate evaluations of buildings on a large scale with significant time savings,as well as the identification of locations where retrofitting interventions would have the greatest impact.

关键词： buildings districts energy demand efficiency GIS urban scale

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Fine‑tuning genomic and pedigree inbreeding rates in equine population with a deep and reliable stud book:the case of the Pura Raza Española horse

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Journal of Animal Science and Biotechnology 2023年第2期14卷 515-528页

作者： Davinia Isabel Perdomo‑Gonzalez Nora Laseca Sebastian demyda‑Peyras Mercedes Valera Isabel Cervantes Antonio Molina departamento Agronomia Escuela Tecnica Superior de Ingenieria AgromomicaUniversidad de SevillaCtra Utrera Km 141013 SevillaSpain departamento de Genetica Universidad de CordobaCordobaSpain Facultad de Ciencias Veterinarias Universidad Nacional de La PlataLa PlataArgentina Consejo Nacional de Investigaciones Cientificas y Tecnicas(CONICET) La PlataArgentina departamento de Produccion Animal Facultad de VeterinariaUniversidad Complutense de MadridMadridSpain.

Background:Estimating inbreeding,which is omnipresent and inevitable in livestock populations,is a primary goal for management and animal breeding especially for those interested in mitigating the negative consequences of inbreeding.Inbreeding coefficients have been historically estimated by using pedigree information;however,over the last decade,genome-base inbreeding coefficients have come to the forefront in this field.The Pura Raza Espanola(PRE)horse is an autochthonous Spanish horse breed which has been recognised since 1912.The total PRE population(344,718 horses)was used to estimate Classical(F),Ballou’s ancestral,Kalinowski’s ancestral,Kalinowski’s new and the ancestral history coefficient values.In addition,genotypic data from a selected population of 805 PRE individuals was used to determine the individual inbreeding coefficient using SNP-by-SNP-based techniques(methods of moments-FHOM-,the diagonal elements of the genomic-FG-,and hybrid matrixes-FH-)and ROH measures(FRZ).The analyse of both pedigree and genomic based inbreeding coefficients in a large and robust population such as the PRE horse,with proven parenteral information for the last 40 years and a high degree of completeness(over 90%for the last 70 years)will allow us to understand PRE genetic variability better and the correlations between the estimations will give the data greater reliability.Results:The mean values of the pedigree-based inbreeding coefficients ranged from 0.01(F for the last 3 generations-F3-)to 0.44(ancestral history coefficient)and the mean values of genomic-based inbreeding coefficients varied from 0.05(FRZ for three generations,FH and FHOM)to 0.11(FRZ for nine generations).Significant correlations were also found between pedigree and genomic inbreeding values,which ranged between 0.58(F3 with FHOM)and 0.79(F with FRZ).In addition,the correlations between FRZ estimated for the last 20 generations and the pedigree-based inbreeding highlight the fact that fewer generations of genomic data are required when comparing total

关键词： Genomic inbreeding Horses Pedigree inbreeding

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Resource requirements of an edge-based digital twin service:an experimental study

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Virtual Reality & Intelligent Hardware 2022年第6期4卷 506-520页

作者： Federico MUNGARI Milan GROSHEV Carla Fabiana CHIASSERINI department of Electronics and Telecommunications Politecnico di TorinoTurin 10129Italy departamento de ingenieria Telematica Universidad Carlos III de MadridMadrid 28911Spain

Digital Twin(DT)is a pivotal application under the industrial digital transformation envisaged by the fourth industrial revolution(Industry 4.0).DT defines intelligent and real-time faithful reflections of physical entities such as industrial robots,thus allowing their remote control.Relying on the latest advances in Information and Communication Technologies(ICT),namely Network Function Virtualization(NFV)and Edge-computing,DT can be deployed as an on-demand service in the factories close proximity and offered leveraging radio access technologies.However,with the purpose of achieving the well-known scalability,flexibility,availability and performance guarantees benefits foreseen by the latest ICT,it is steadily required to experimentally profile and assess DT as a Service(DTaaS)solutions.Moreover,the dependencies between the resources claimed by the service and the relative demand and work loads require to be investigated.In this work,an Edge-based Digital Twin solution for remote control of robotic arms is deployed in an experimental testbed where,in compliance with the NFV paradigm,the service has been segmented in virtual network functions.Our research has primarily the objective to evaluate the entanglement among overall service performance and VNFs resource requirements,and the number of robots consuming the service varies.Experimental profiles show the most critical DT features to be the inverse kinematics and trajectory computations.Moreover,the same analysis has been carried out as a function of the industrial processes,namely based on the commands imposed on the robots,and particularly of their ion-level,resulting in a novel trade-off between computing and time resources requirements and trajectory guarantees.The derived results provide crucial insights for the design of network service scaling and resource orchestration fra-meworks dealing with DTaaS applications.Finally,we empirically prove LTE shortage to accommodate the minimum DT latency requirements.

关键词： Digital twin Edge NFV Testbed Performance evaluation

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Compatibility of early natural enemy introductions in commercial pepper and tomato greenhouses with repeated pesticide applications

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Insect Science 2020年第5期27卷 1111-1124页

作者： Beatriz Dader Ignacio Colomer Angeles Adan Pilar Medina Elisa Vinuela Unidad de Proteccion de Cultivos Escuela Tecnica Superior de Ingenieria AgronomicaAlimentaria y de Biosistemas(ETSIAAB)Universidad Polit^cnica de Madrid(UPM)MadridSpain departamento de ingenieria Rural Escuela Superior de IngenieriaUniversidad de AlmeriaAlmeriaSpain

Successful integrated pest management in protected crops implies an evalu-ation of the compatibility of pesticides and natural enemies(NE),as control strategies that only rely on one tactic can fail when pest populations exceed NE activity or pests become resistant to pesticides.Nowadays in Almeria(Spain),growers release NE prior to transplanting or early in the crop cycle to favor their settlement before pest arrival because this improves biocontrol efficacy,although it extends pesticide exposure periods.The pur-pose of this research was to evaluate the compatibility of two applications of pesticides with key NE in 2-year trials inside tomato and sweet pepper commercial greenhouses:Nesidiocoris tenuis(Reuter)(Hemiptera:Miridae),Orius laevigatus(Say)(Hemiptera:Anthocoridae)and Amblyseius swirskii(Athias-Henriot)(Acari:Phytoseidac).In tomato,flubendiamide and chlorantraniliprole(IOBC category 1)were compatible with N.tenuis,but chlorpyrifos.:methyl and spinosad(IOBC categories 2-3),which efectively reduced Tiuta absoluta(Meyrick)(Lepidoptera:Gelechidae)density,compromised its predatory activity.In sweet pepper,chlorantraniliprole(IOBC category 1)was the only pesticide compatible with O.laevigatus while chlorantraniliprole,emamectin benzoate,spirote-tramat and pymetrozine were harmless(IOBC category 1)to Amblyseius swirskii,and sulfoxaflor slightly harmful(IOBC category 2)to this phytoseiid predator.

关键词： Amblyseius swirskii chemical control Frankliniella occidentalis Nesidiocoris tenuis Orius laevigatus Tuta absoluta

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