Polychaete-Like Undulatory Robotic Locomotion in Unstructured Substrates

A biological paradigm of versatile locomotion and effective motion control is provided by the polychaete annelid worms, whose motion adapts to a large variety of unstructured environmental conditions (sand, mud, sediment, water, etc.), and could thus be of interest to replicate by robotic analogs. Their locomotion is characterized by the combination of a unique form of tail-to-head body undulations (opposite to snakes and eels), with the rowing-like action of numerous lateral appendages distributed along their long segmented body. Focusing on the former aspect of polychaete locomotion, computational models of crawling and swimming by such tail-to-head body undulations have been developed in this paper. These are based on the Lagrangian dynamics of the system and on resistive models of its interaction with the environment, and are used for simulation studies demonstrating the generation of undulatory gaits. Several biomimetic robotic prototypes have been developed, whose undulatory actuation achieves propulsion on sand and other granular unstructured environments. Extensive experimental studies demonstrate the feasibility of robot propulsion by tail-to-head body undulations in such environments, as well as the agreement of its qualitative and quantitative characteristics to the predictions of the corresponding computational models.     

Optimal controller for uncertain stochastic polynomial systems with deterministic disturbances

This article presents the optimal quadratic-Gaussian controller for uncertain stochastic polynomial systems with unknown coefficients and matched deterministic disturbances over linear observations and a quadratic criterion. The optimal closed-form controller equations are obtained through the separation principle, whose applicability to the considered problem is substantiated. As intermediate results, this article gives closed-form solutions of the optimal regulator, controller and identifier problems for stochastic polynomial systems with linear control input and a quadratic criterion. The original problem for uncertain stochastic polynomial systems with matched deterministic disturbances is solved using the integral sliding mode algorithm. Performance of the obtained optimal controller is verified in the illustrative example against the conventional quadratic-Gaussian controller that is optimal for stochastic polynomial systems with known parameters and without deterministic disturbances. Simulation graphs demonstrating overall performance and computational accuracy of the designed optimal controller are included.     

Retrieval of leaf area index in different vegetation types using high resolution satellite data

With the successful launch of the IKONOS satellite, very high geometric resolution imagery is within reach of civilian users. In the 1-m spatial resolution images acquired by the IKONOS satellite, details of buildings, individual trees, and vegetation structural variations are detectable. The visibility of such details opens up many new applications, which require the use of geometrical information contained in the images. This paper presents an application in which spectral and textural information is used for mapping the leaf area index (LAI) of different vegetation types. This study includes the estimation of LAI by different spectral vegetation indices (SVIs) combined with image textural information and geostatistical parameters derived from high resolution satellite data. It is shown that the relationships between spectral vegetation indices and biophysical parameters should be developed separately for each vegetation type, and that the combination of the texture indices and vegetation indices results in an improved fit of the regression equation for most vegetation types when compared with one derived from SVIs alone. High within-field spatial variability was found in LAI, suggesting that high resolution mapping of LAI may be relevant to the introduction of precision farming techniques in the agricultural management strategies of the investigated area.     

Privacy in geo-social networks: proximity notification with untrusted service providers and curious buddies

A major feature of the emerging geo-social networks is the ability to notify a user when any of his friends (also called buddies) happens to be geographically in proximity. This proximity service is usually offered by the network itself or by a third party service provider (SP) using location data acquired from the users. This paper provides a rigorous theoretical and experimental analysis of the existing solutions for the location privacy problem in proximity services. This is a serious problem for users who do not trust the SP to handle their location data and would only like to release their location information in a generalized form to participating buddies. The paper presents two new protocols providing complete privacy with respect to the SP and controllable privacy with respect to the buddies. The analytical and experimental analysis of the protocols takes into account privacy, service precision, and computation and communication costs, showing the superiority of the new protocols compared to those appeared in the literature to date. The proposed protocols have also been tested in a full system implementation of the proximity service.     

Hybrid Bionic Systems for the Replacement of Hand Function

In recent years, thanks to the advancement of robotics and mechatronics, new and more effective devices for the restoration and replacement of sensory-motor function in disabled people have been developed. In all these systems, user acceptability is strictly connected to several issues such as the residual abilities of the subject, the mechatronic characteristics of the robot, and also the interface chosen to link them. It is possible to figure out different "human-interface-device" combinations [also defined as "hybrid bionic systems" (HBSs)] characterized by different properties in terms of level of hybridness, connection, and augmentation. In particular, in HBSs the interface has to be customized according to the characteristics of the robotic artefact to be controlled and to the desires and needs of the final users. In this paper, our attention has been focused on the problem of the replacement of hand function after amputation. Three HBSs characterized by different levels of complexity, dexterity, and sensorization are presented in order to show the possibility of developing acceptable and effective systems by choosing different levels of connection and hybridness (i.e., different interfaces) for different devices and applications. The following case studies are presented: 1) the use of invasive interfaces to the peripheral nervous system to control a dexterous and highly sensorized hand prosthesis; 2) the use of electromyographic signals recorded using surface electrodes to control a compliant adaptive prosthesis; and 3) the use of a foot interface to control a two-degrees-of-freedom prosthesis. The preliminary results achieved so far seem to confirm the idea that the correct choice of the proper interface while developing an HBS can increase effectiveness and usability     

Singularity-free time integration of rotational quaternions using non-redundant ordinary differential equations

A novel ODE time stepping scheme for solving rotational kinematics in terms of unit quaternions is presented in the paper. This scheme inherently respects the unit-length condition without including it explicitly as a constraint equation, as it is common practice. In the standard algorithms, the unit-length condition is included as an additional equation leading to kinematical equations in the form of a system of differential-algebraic equations (DAEs). On the contrary, the proposed method is based on numerical integration of the kinematic relations in terms of the instantaneous rotation vector that form a system of ordinary differential equations (ODEs) on the Lie algebra \(\mathit{so}(3)\) of the rotation group \(\mathit{SO}(3)\). This rotation vector defines an incremental rotation (and thus the associated incremental unit quaternion), and the rotation update is determined by the exponential mapping on the quaternion group. Since the kinematic ODE on \(\mathit{so}(3)\) can be solved by using any standard (possibly higher-order) ODE integration scheme, the proposed method yields a non-redundant integration algorithm for the rotational kinematics in terms of unit quaternions, avoiding integration of DAE equations. Besides being ‘more elegant’—in the opinion of the authors—this integration procedure also exhibits numerical advantages in terms of better accuracy when longer integration steps are applied during simulation. As presented in the paper, the numerical integration of three non-linear ODEs in terms of the rotation vector as canonical coordinates achieves a higher accuracy compared to integrating the four (linear in ODE part) standard-quaternion DAE system. In summary, this paper solves the long-standing problem of the necessity of imposing the unit-length constraint equation during integration of quaternions, i.e. the need to deal with DAE’s in the context of such kinematical model, which has been a major drawback of using quaternions, and a numerical scheme is presented that also allows for longer integration steps during kinematic reconstruction of large three-dimensional rotations.     

Mixed bi-material electrodes based on LiMn2O4 and activated carbon for hybrid electrochemical energy storage devices

The performance of mixed bi-material electrodes composed of the battery material, LiMn₂O₄, and the electrochemical capacitor material, activated carbon, for hybrid electrochemical energy storage devices is investigated by galvanostatic charge/discharge and pulsed discharge experiments. Both, a high and a low conductivity lithium-containing electrolyte are used. The specific charge of the bi-material electrode is the linear combination of the specific charges of LiMn₂O₄ and activated carbon according to the electrode composition at low discharge rates. Thus, the specific charge of the bi-material electrode falls between the specific charge of the activated carbon electrode and the LiMn₂O₄ battery electrode. The bi-material electrodes have better rate capability than the LiMn₂O₄ battery electrode. For high current pulsed applications the bi-material electrodes typically outperform both the battery and the capacitor electrode.     

Supramolecular Capsules Derived from Resorcin[4]arenes by H-Bonding and Metal Coordination: Synthesis,Characterization, and Single-Molecule Force Spectroscopy

Self-assembly by H-bonding and by metal-coordination of functionalized calix[4]arenes and cavitands to large supramolecular capsules is described. In addition, a new method of analyzing supramolecular recognition processes at the single molecule level is discussed. By measuring interaction forces in a hydrogen-bonded assembly using single-molecule force spectroscopy (SMFS), the dynamics of the self-assembly process can be evaluated. In the future, consequent application of this new technique will influence supramolecular design principles and the use of non-covalent interactions as construction elements in the field of nanotechnology.