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.     

Scavenging Elemental Sb Through Addition of NbSb2 to Mm0.9Fe3.5Co0.5Sb12 Skutterudites

Our previous work identified thermal instability of p-type skutterudite as a primary cause of degradation during thermoelectric generator operation at 650°C. Residual Sb in the microstructure was believed to be the cause of diminished thermal stability, especially above the melting point of Sb (631°C). This work investigated addition of Nb to p-type skutterudite to from NbSb₂, thus scavenging elemental Sb. The results of this work are reported, along with comprehensive thermoelectric property characterization of the p-type skutterudite?+?NbSb₂ composites.     

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.     

Nanocomposites of PBAT and cellulose nanocrystals modified by in situ polymerization and melt extrusion

Cellulose nanocrystals (CNC) were successfully grafted with a low molecular weight poly(butylene glutarate) through an in situ polymerization procedure. The grafting treatment decreased the CNC hydrophilic character and increased the onset of their thermal degradation by approximately 20°C, thus increasing the possibilities of CNC application. Composites of grafted and nongrafted CNC with a poly(butylene‐adipate‐co‐terephthalate) (PBAT) matrix were prepared by melt extrusion. The CNC addition led to an increase of 50% of the tensile elastic modulus of the PBAT. In addition, dynamic mechanical thermal analysis showed that the composite with CNC retained its high modulus even at temperatures far above the glass transition temperature of PBAT. At 60°C the storage modulus of the composite with CNC was approximately 200% higher than that of the pure PBAT. Thus, in this work, nanocomposites of improved properties were obtained through a combination of in situ polymerization and melt extrusion. POLYM. ENG. SCI., 56:1339–1348, 2016. © 2016 Society of Plastics Engineers     

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     

Deep Resequencing of 9 Candidate Genes Identifies a Role for ARAP1 and IGF2BP2 in Modulating Insulin Secretion Adjusted for Insulin Resistance in Obese Southern Europeans

Type 2 diabetes is characterized by impairment in insulin secretion, with an established genetic contribution. We aimed to evaluate common and low-frequency (1–5%) variants in nine genes strongly associated with insulin secretion by targeted sequencing in subjects selected from the extremes of insulin release measured by the disposition index. Collapsing data by gene and/or function, the association between disposition index and nonsense variants were significant, also after adjustment for confounding factors (OR = 0.25, 95% CI = 0.11–0.59, p = 0.001). Evaluating variants individually, three novel variants in ARAP1, IGF2BP2 and GCK, out of eight reaching significance singularly, remained associated after adjustment. Constructing a genetic risk model combining the effects of the three variants, only carriers of the ARAP1 and IGF2BP2 variants were significantly associated with a reduced probability to be in the lower, worst, extreme of insulin secretion (OR = 0.223, 95% CI = 0.105–0.473, p < 0.001). Observing a high number of normal glucose tolerance between carriers, a regression posthoc analysis was performed. Carriers of genetic risk model variants had higher probability to be normoglycemic, also after adjustment (OR = 2.411, 95% CI = 1.136–5.116, p = 0.022). Thus, in our southern European cohort, nonsense variants in all nine candidate genes showed association with better insulin secretion adjusted for insulin resistance, and we established the role of ARAP1 and IGF2BP2 in modulating insulin secretion.