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     

An adaptive flocking algorithm for performing approximate clustering

This paper presents an approach based on an adaptive bio-inspired method to make state of the art clustering algorithms scalable and to provide them with an any-time behavior. The method is based on the biology-inspired paradigm of a flock of birds, i.e. a population of simple agents interacting locally with each other and with the environment. The flocking algorithm provides a model of decentralized adaptive organization useful to solve complex optimization, classification and distributed control problems. This approach avoids the sequential search of canonical clustering algorithms and permits a scalable implementation.The method is applied to design two novel clustering algorithms based on the main principles of two popular clustering algorithms: DBSCAN and SNN. This apporach can identify clusters of widely varying shapes and densities and is able to extract an approximate view of the clusters whenever it is required. Both the algorithms have been evaluated on synthetic and real world data sets and the impact of the flocking strategy on performance has been evaluated.     

Efficient inclusion for a class of XML types with interleaving and counting

Inclusion between XML types is important but expensive, and is much more expensive when unordered types are considered. We prove here that inclusion for XML types with interleaving and counting can be decided in polynomial time in the presence of two important restrictions: no element appears twice in the same content model, and Kleene star is only applied to disjunctions of single elements.