Heuristic approaches for the optimal wiring in large scale robotic skin design

This paper faces the problem of optimizing the wiring and the connections in a tactile skin for robots. The robotic skin is a device composed of a network of tactile sensors, whose wiring can be very complex: the control of this complexity is a key problem. In the considered robotic skin, skin elements are grouped into skin patches, which output tactile data that have to be read by a micro-controller. The logical connections between the sensors must be defined in order to route signals through the network. A finite set of micro-controllers is given and a set of constraints is imposed on the given assignment and routing. The considered problem has a combinatorial nature and it can be formulated as a Minimum Constrained Spanning Forest problem with costs on arcs that cannot be a priori defined as they are solution-dependent. The problem is NP-hard. The paper introduces a mathematical formulation and then proposes a Multi-Start Heuristic algorithm and an Ant Colony Optimization approach whose effectiveness is evaluated through experimental tests performed on both real and synthetically generated instances.     

FMS for Unmanned Aerial Systems: HMI Issues and New Interface Solutions

To integrate UASs in the NAS, an improvement in navigation, planning, communication and 4D trajectory control capabilities is mandatory. A way to obtain this enhance is to adopt a Flight Management System. A FMS for an UAS has some differences with respect to one for a manned aircraft, in terms of architecture and performed functions. In particular, from HMI point of view, the specific UAS human factor issues shall be added to the current manned FMS interface lacks. Starting from these considerations, a new FMS HMI for the Alenia Aeronautica TCS has been developed, using as data entry devices two touch screens.     

Double actuation architectures for rendering variable impedance in compliant robots: A review

Novel compliant actuation systems have been developed in recent years for a variety of possible advantages, such as establishing a safe human–robot interaction, increasing energy efficiency, reducing the effects of impacts and even for the development of neuro-inspired robotic platforms to be used in human motor control studies.In this rapidly growing and transversal research field, systems involving more than one active element (typically motors) for each actuated degree of freedom are being investigated to allow separate position and impedance regulations. Considering the wide range of applications and the large number of different arrangements deriving from the combination of two active elements and passive elastic components, several actuation architectures have been devised.This paper reviews state-of-the-art rotary variable impedance units incorporating two separate motors. Existing devices are grouped in three main categories. A critical and comparative analysis of the most relevant features is carried out, also based on most representative prototypes. Recently proposed methodologies and evaluation criteria for design optimization are illustrated and perspectives on potential applications of double actuation systems are presented.     

A variational integrators approach to second order modeling and identification of linear mechanical systems

The theory of variational integration provides a systematic procedure to discretize the equations of motion of a mechanical system, preserving key properties of the continuous time flow. The discrete-time model obtained by variational integration theory inherits structural conditions which in general are not guaranteed under general discretization procedures. We discuss a simple class of variational integrators for linear second order mechanical systems and propose a constrained identification technique which employs simple linear transformation formulas to recover the continuous time parameters of the system from the discrete-time identified model. We test this approach on a simulated eight degrees of freedom system and show that the new procedure leads to an accurate identification of the continuous-time parameters of second-order mechanical systems starting from discrete measured data.     

Cycling reliability of RF-MEMS switches with Gold–Platinum multilayers as contact material

Microsystem Technologies - Contact resistance is the main parameter used for assessing the high cycling reliability of RF microelectromechanical (RF-MEMS) switches. In this paper the use of a...     

Neural approach for temperature‐dependent modeling of GaN HEMTs

Gallium nitride high electron‐mobility transistors have gained much interest for high‐power and high‐temperature applications at high frequencies. Therefore, there is a need to have the dependence on the temperature included in their models. To meet this challenge, the present study presents a neural approach for extracting a multi‐bias model of a gallium nitride high electron‐mobility transistors including the dependence on the ambient temperature. Accuracy of the developed model is verified by comparing modeling results with measurements. Copyright © 2014 John Wiley & Sons, Ltd.     

Mechanical properties of virgin and recycled polyolefin‐based composite laminates reinforced with jute fabric

Polyolefin‐based composite laminates reinforced with jute fabric were prepared by compression molding and investigated in terms of flexural properties and impact behavior. The use of a virgin polypropylene as the matrix was compared with two polyolefin matrices coming from discarded car bumpers and selected packaging wastes, respectively, and mainly constituted by mixtures of polyethylene and polypropylene resins. The influence of a coupling agent (maleated polypropylene) was always considered in order to improve the interfacial adhesion and, consequently, the composite strength. The effect of this coupling agent, clearly dependent on the amount of polypropylene phase in the overall mixture, was found to be satisfactory only in the case of virgin polypropylene‐based systems. These latter, in presence of maleated polypropylene, have shown higher flexural parameters, lower propagation energy and higher breaking impact load with respect to uncompatibilized ones. Results were supported by morphological observations of impact surfaces, always highlighting a poor adhesion at the reinforcement–matrix interface except in compatibilized virgin polypropylene‐based laminates. POLYM. COMPOS., 36:2022–2029, 2015. © 2014 Society of Plastics Engineer     

Molecular Mechanisms and Physiological Changes behind Benign Tracheal and Subglottic Stenosis in Adults

Laryngotracheal stenosis (LTS) is a complex and heterogeneous disease whose pathogenesis remains unclear. LTS is considered to be the result of aberrant wound-healing process that leads to fibrotic scarring, originating from different aetiology. Although iatrogenic aetiology is the main cause of subglottic or tracheal stenosis, also autoimmune and infectious diseases may be involved in causing LTS. Furthermore, fibrotic obstruction in the anatomic region under the glottis can also be diagnosed without apparent aetiology after a comprehensive workup; in this case, the pathological process is called idiopathic subglottic stenosis (iSGS). So far, the laryngotracheal scar resulting from airway injury due to different diseases was considered as inert tissue requiring surgical removal to restore airway patency. However, this assumption has recently been revised by regarding the tracheal scarring process as a fibroinflammatory event due to immunological alteration, similar to other fibrotic diseases. Recent acquisitions suggest that different factors, such as growth factors, cytokines, altered fibroblast function and genetic susceptibility, can all interact in a complex way leading to aberrant and fibrotic wound healing after an insult that acts as a trigger. However, also physiological derangement due to LTS could play a role in promoting dysregulated response to laryngo-tracheal mucosal injury, through biomechanical stress and mechanotransduction activation. The aim of this narrative review is to present the state-of-the-art knowledge regarding molecular mechanisms, as well as mechanical and physio-pathological features behind LTS.     

Cation Permeability of Voltage-Gated Hair Cell Ca2+ Channels of the Vertebrate Labyrinth

Some hearing, vestibular, and vision disorders are imputable to voltage-gated Ca²⁺ channels of the sensory cells. These channels convey a large Ca²⁺ influx despite extracellular Na⁺ being 70-fold more concentrated than Ca²⁺; such high selectivity is lost in low Ca²⁺, and Na⁺ can permeate. Since the permeation properties and molecular identity of sensory Ca²⁺ channels are debated, in this paper, we examine the Na⁺ current flowing through the L- and R-type Ca²⁺ channels of labyrinth hair cells. Ion currents and cytosolic free Ca²⁺ concentrations were simultaneously monitored in whole-cell recording synchronous to fast fluorescence imaging. L-type and R-type channels were present with different densities at selected sites. In 10 nM Ca²⁺, the activation and deactivation time constants of the L-type Na⁺ current were accelerated and its maximal amplitude increased by 6-fold compared to physiological Ca²⁺. The deactivation of the R-type Na⁺ current was not accelerated, and its current amplitude increased by 2.3-fold in low Ca²⁺; moreover, it was partially blocked by nifedipine in a voltage- and time-dependent manner. In conclusion, L channel gating is affected by the ion species permeating the channel, and its selectivity filter binds Ca²⁺ more strongly than that of R channel; furthermore, external Ca²⁺ prevents nifedipine from perturbing the R selectivity filter.