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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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Predicting the clothing insulation through machine learning algorithms:A comparative analysis and a practical approach

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Building Simulation 2024年第5期17卷 839-855页

作者： Pablo Aparicio-Ruiz elena Barbadilla-Martin Jose Guadix Jesus Munuzuri Grupo de ingenieria de Organizacion Escuela Tecnica Superior de IngenieriaUniversidad de SevillaCamino de los Descubrimientos S/N41092SevilleSpain

Since indoor clothing insulation is a key element in thermal comfort models,the aim of the present study is proposing an approach for predicting it,which could assist the occupants of a building in terms of recommendations regarding their ensemble.For that,a systematic analysis of input variables is exposed,and 13 regression and 12 classification machine learning algorithms were developed and compared.The results are based on data from 3352 questionnaires and 21 input variables from a field study in mixed-mode office buildings in Spain.Outdoor temperature at 6 a.m.,indoor air temperature,indoor relative humidity,comfort temperature and gender were the most relevant features for predicting clothing insulation.When comparing machine learning algorithms,decision tree-based algorithms with Boosting techniques achieved the best performance.The proposed model provides an efficient method for forecasting the clothing insulation level and its application would entail optimising thermal comfort and energy efficiency.

关键词： clothing insulation simulation adaptive thermal comfort behavioural adaptive actions machine learning

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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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Spin Number Coherent States and the Problem of Two Coupled Oscillators

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Communications in Theoretical Physics 2015年第7期64卷 34-38页

作者： D.Ojeda-Guillén R.D.Mota V.D.Granados escuela superior de Fisica y Matemáticas Instituto Politécnico Nacional Ed. 9 Unidad Profesional Adolfo López Mateos escuela superior de ingenieria mecánica y eléctrica Unidad Culhuacán Instituto Politécnico Nacional

From the definition of the standard Perelomov coherent states we introduce the Perelomov number coherent states for any su(2) Lie algebra. With the displacement operator we apply a similarity transformation to the su(2)generators and construct a new set of operators which also close the su(2) Lie algebra, being the Perelomov number coherent states the new basis for its unitary irreducible representation. We apply our results to obtain the energy spectrum, the eigenstates and the partition function of two coupled oscillators. We show that the eigenstates of two coupled oscillators are the SU(2) Perelomov number coherent states of the two-dimensional harmonic oscillator with an appropriate choice of the coherent state parameters.

关键词： coherent states Lie algebras coupled oscillators

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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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CLT Fabricated with Gmelina arborea and Tectona grandis Wood from Fast-Growth Forest Plantations: Physical and mechanical Properties

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Journal of Renewable Materials 2022年第1期10卷 1-17页

作者： Freddy Munoz Carolina Tenorio Roger Moya Angel Navarro-Mora escuela de ingenieria Forestal Instituto Tecnologico de Costa RicaCartago159-7050Costa Rica escuela de ingenieria en Construccion Instituto Tecnologico de Costa RicaCartago159-7050Costa Rica

Fabrication and use of Cross Laminated Timber(CLT)using tropical woods is still limited at present.Therefore objective of the present study aims to determine the possibility of using CLT panels of 3 and 5 layers,fabricated withTectona grandis and Gmelina arborea wood using adhesive of isocyanate polymer emulsion system catalyzed with polymeric isocyanate.delamination,water absorption,density,flexure test,compression and glue-line shear were evaluated using ANSI/APA PRG320-2012 ASTM D198 and ASTM D4761 standard.The results showed that CLT panels of T.grandis presented higher values of density,less water absorption and lower delamination,with no evident differences between the CLT of 3 and 5 layers.The high density of T.grandis resulted in higher values of the mechanical properties.The flatwise and edgewise flexure tests in 5-layer CLT panels of both species pre-sented higher values of bending stiffness compared to those of 3-layer CLT panels.Further the bending stress values in 3-layer CLT panels were higher than for 5-layer CLT panels.As for shear stress in bending flatwise,in both species,3-layer CLT surpassed 5-layer CLT panels,but in the edgewise test no differences were observed.The MOE and Fc in the compression test were superior in relation to the edgewise test.MOE and Fc in compres-sion flatwise in 3-layer CLT was greater than in 5-layer CLT in both species,but edgewise these values were higher in 5-layer CLT panels.The most common failures were stress and delamination in the flexure test,whereas in the compression test these were:shearing,splitting and crushing.In the glue-line shear test no differences were observed between CLT panels of 3 and 5 layers for both species.

关键词： Structural elements sustainable material building material tropical wood wood of plantation

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OsDMI3,a Ca^(2+)/calmodulin kinase,integrates and amplifies H_(2)O_(2) and Ca^(2+) signaling in ABA-mediated responses

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Molecular Plant 2023年第6期16卷 968-970页

作者： Miguel-Angel Torres Diego Jose Berlanga 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 UPM28223 Pozuelo de AlarconMadridSpain departamento de Biotecnologia-Biologia Vegetal Escuela Técnica Superior de Ingenieria AgronomicaAlimentaria y de BiosistemasUPM28040 MadridSpain

Abscisic acid(ABA)is an important hormone that regulates both plant development and stress responses(Chen et al.,2020).In the absence of ABA,group A PROTEIN PHOSPHATASE 2Cs(PP2Cs)interact with and inhibit SUCROSE-NON-FERMENTING 1-RelATED KINASES 2(SnRK2s).When ABA is present,ABA receptor PyRABACTIN RESISTANCE 1 and PyRABACTIN RESISTANCE 1-LIKE PROTEINS bind to and inhibit PP2Cs,allowing phosphorylation and activation of SnRK2s that,in turn,phosphorylate downstream targets,such as transcription factors,ion channels,and transporters(Figure 1).

关键词： SnRK2 Figure

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Preparation of Rod-like Aluminum Doped Zinc Oxide Powders by Sol-gel Technique Using Metal Chlorides and Acetylacetone Precursors

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Journal of Wuhan University of Technology(Materials Science) 2018年第6期33卷 1293-1297页

作者： KESHTKAR Javad VARGAS GARCIA Jorge Roberto GALAVIZ PEREZ Jorge MARTINEZ TRINIDAD José escuela superior de ingenieria mecánica y eléctrica Instituto Politécnico NacionalMéxico07738CDMXMéxico escuela superior de ingenieria Quimica e Industrias Extractivas Instituto Politécnico NacionalMéxico07738CDMXMéxico Universidad Juárez Autònoma de Tabasco DivisiònAcadémica Multidisciplinaria de Jalpa de MéndezRibera AltaJalpa de MéndezTabasco86205México

Al-doped ZnO(AZO) powders were prepared by using metal chloride precursors and the sol-gel technique. IR peaks observed at 1590 cm-1 and 1620 cm-1indicated the formation of metal chelate as a consequence of the addition of acetylacetone to the metal chloride solution. TG-DSC analysis of the AZO gels confirmed the formation of metal chelate as evidenced by the development of several weight loss peaks accompanied by the introduction of new endothermic peaks. The resulting AZO gels were annealed at 500, 600, and 800 ℃ to study the effect of annealing temperature. XRD and SEM results showed that crystallization of AZO gels takes place around 600 ℃. Hexagonal wurtzite structure was identified as the main phase for all the samples. In addition, small shift of the XRD(002) peak coupled with XPS results from the AZO powders confirmed the successful doping of the ZnO powders. Micron sized rod-like AZO powders were uniform in dimension and morphology and remained stable even at 800 ℃.

关键词： aluminum doped ZnO rod-like metal chloride sol gel acetylacetone

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The FAIR Data Point:Interfaces and Tooling

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Data Intelligence 2023年第1期5卷 184-201页

作者： Oussama Mohammed Benhamed Kees Burger Rajaram Kaliyaperumal Luiz Olavo Bonino da Silva Santos Marek Suchánek Jan Slifka Mark D.Wilkinsoni departamento de Biotecnologia-Biologia Vegetal Escuela Tecnica Superior de Ingenieria AgronomicaAlimentaria y de BiosistemasCentro de Biotecnologia y Genomica de Plantas UPM-INIAUniversidad Politecnica de Madrid(UPM)-Instituto Nacional de Investigacion y Tecnologia Agraria y Alimentaria(INIA)MadridES 28223Spain Leiden University Medical Center Leiden2333 ZCthe Netherlands University of Twente Enschede7513 GBthe Netherlands Czech Technical University in Prague PragueCZ 15000Czech Republic

While the FAIR Principles do not specify a technical solution for'FAIRness',it was clear from the outset of the FAIR initiative that it would be useful to have commodity software and tooling that would simplify the creation of FAIR-compliant resources.The FAIR Data Point is a metadata repository that follows the DCAT(2)schema,and utilizes the Linked Data Platform to manage the hierarchical metadata layers as LDP Containers.There has been a recent flurry of development activity around the FAIR Data Point that has significantly improved its power and ease-of-use.Here we describe five specific tools—an installer,a loader,two Webbased interfaces,and an indexer-aimed at maximizing the uptake and utility of the FAIR Data Point.

关键词： FAIR Data Linked data Semantic Web Metadata User interfaces Tooling Semantic query

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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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