Fractional Control of a Humanoid Robot Reduced Model with Model Disturbances

There is an open discussion between those who defend mass-distributed models for humanoid robots and those in favor of simple concentrated models. Even though each of them has its advantages and disadvantages, little research has been conducted analyzing the control performance due to the mismatch between the model and the real robot, and how the simplifications affect the controller’s output. In this article we address this problem by combining a reduced model of the humanoid robot, which has an easier mathematical formulation and implementation, with a fractional order controller, which is robust to changes in the model parameters. This controller is a generalization of the well-known proportional–integral–derivative (PID) structure obtained from the application of Fractional Calculus for control, as will be discussed in this article. This control strategy guarantees the robustness of the system, minimizing the effects from the assumption that the robot has a simple mass distribution. The humanoid robot is modeled and identified as a triple inverted pendulum and, using a gain scheduling strategy, the performances of a classical PID controller and a fractional order PID controller are compared, tuning the controller parameters with a genetic algorithm.     

Path Flow and Trip Matrix Estimation Using Link Flow Density

A macroscopic model is presented that simultaneously estimates route flows and trip matrices for congested road networks using data on link densities instead of link flows. The advantage of this approach is that it avoids errors that may occur in the individual links’ flow-cost relationships when congestion is heavy. Under the proposed methodology, both the flows and the matrices are estimated by the model using an image of the network such as an aerial photograph in which the number of vehicles on each link can be identified. The model itself is formulated as a maximum entropy optimization problem subject to linear constraints given by vehicle densities on the links, and is validated using analytic examples and traffic microsimulations. The results demonstrate the superiority of the link-density approach over the traditional flow-based method.     

Ab initio determination of heavy oxide perovskite related structures from precession electron diffraction data

Two complex perovskite-related structures were solved by ab initio from precession electron diffraction intensities. Structure models were firstly derived from HREM images and than have been confirmed independently using two and three-dimensional sets of precession intensities. Patterson techniques prove to be effective for ab initio structure resolution, specially in case of projections with no overlapping atoms. Quality of precession intensity data may be suitable enough to resolve unknown heavy oxide structures.     

Analysis of the Functional Block Involved in the Design of Radial Basis Function Networks

The main architectures, learning abilities and applications of radial basis function (RBF) neural networks are well documented. However, to the best of our knowledge, no in-depth analyses have been carried out into the influence on the behaviour of the neural network arising from the use of different alternatives for the design of an RBF (different non-linear functions, distances, number of neurons, structures, etc.). Thus, as a complement to the existing intuitive knowledge, it is necessary to have a more precise understanding of the significance of the different alternatives. In the present contribution, the relevance and relative importance of the parameters involved in such a design are investigated by using a statistical tool, the ANalysis Of the VAriance (ANOVA). In order to obtain results that are widely applicable, various problems of classification, functional approximation and time series estimation are analyzed. Conclusions are drawn regarding the whole set.     

Rab7 and actin cytoskeleton participate during mobilization of β1EHFNR in fibronectin-stimulated Entamoeba histolyticatrophozoites

In vitro interaction of Entamoeba histolytica trophozoites with fibronectin (FN) induces redistribution of the amoebic fibronectin receptor (β1EhFNR). Trafficking of beta1 integrins is important for cell adhesion and migration in higher eukaryotes and requires the participation of Rab proteins. In E. histolytica, the machinery involved in integrin trafficking is not completely known. EhRab7 is a 24.5-kDa protein whose alignment with other Rab7 proteins demonstrated that it shared significant homology with Rab7 proteins from other organisms, including humans. Using different types of microscopy (fluorescence and confocal microscopy), it was established that Rab7 and the actin cytoskeleton participated in the mobilization of β1EhFNR in FN-stimulated trophozoites. β1EhFNR and Rab7 co-localized only in vesicular structures at 5 min, and at longer time (1 h), both co-localized in both plasma membrane and in vesicular structures; at the same time, Rab7 co-localized with specific actin structures (phagocytic vacuoles). At 5 h the β1EhFNR, Rab7, and actin co-localized at the plasma membrane, and only β1EhFNR and Rab7 decorated vesicles of different sizes. Actin and Rab7 co-localized in a cap-like structure at one end of the cell. Fluorescence resonance energy transfer and electron microscopy confirmed the close interaction between β1EhFNR and Rab7. Moreover, the use of a lysosome-specific marker (LysoTracker) and a Golgi-specific marker (NBD C(6)-ceramide) allowed us to establish that, at some point within the endocytic route, β1EhFNR and Rab7 co-localized within a lysosome-type organelle, but not a Golgi-like organelle, which indicated that this integrin-like molecule was returned to the plasma membrane via exocytic or secretory vesicles.     

Open Innovation in an Enterprise 3.0 framework: Three case studies

Nowadays, especially after the recent financial downturn, companies are looking for much more efficient and creative business processes. They need to place better solutions in the market in a less time with less cost. There is a general intuition that communication and collaboration, especially mixed with Web 2.0 approach within companies and ecosystems, can boost the innovation process with positive impacts on business indicators. Open Innovation within an Enterprise 2.0 context is a one of the most chosen paradigm for improving the innovation processes of enterprises, based on the collaborative creation and development of ideas and products. The key feature of this new paradigm is that the knowledge is exploited in a collaborative way flowing not only among internal sources, i.e. R&D departments, but also among external ones as other employees, customers, partners, etc. In this paper we show how an ontology-based analysis of plain text can provide a semantic contextualization of content support tasks, such as finding semantic distance between contents, and can help in creating relations between people with shared knowledge and interests. Along this paper we will present the results obtained by the adoption of this technology in a large corporate environment like Bankinter, a financial institution, Telefonica I+D, an international telecommunication firm and Repsol, a major oil company in Spain.     

Synthesis, structure, and field emission properties of sulfur-doped nanocrystalline diamond

The synthesis and properties of sulfur-doped nanocrystalline diamond films were investigated. The films were deposited by hot-filament chemical vapor deposition on Mo substrates using methane, hydrogen, and hydrogen disulfide. The nanocrystalline nature of the material arises from the induction of continuous secondary nucleation in the chemical vapor deposition environment. Complementary characterization tools were employed in order to obtain a comprehensive and coherent understanding of the correlations between the structural and electronic properties. In particular, sulfur-doped nanocrystalline diamond films show n-type Hall conductivity, enhanced field emission properties, and insensitivity to ion radiation. It was found that n-type doping of the tetragonally-bonded carbon matrix together with a nano network of trigonally-bonded carbon are crucial elements for enhanced field emission from nanocrystalline diamond. These conclusions and the corresponding supporting evidence are discussed.     

Selection of Strategies for Collision-free Motion in Multi-manipulator Systems

Strategy-based path planning was introduced by the authors as a way to give robotic manipulators some sort of reactive behaviour in dynamic and unpredictable environments. This approach is based on making robots react to moving obstacles using a restricted subset of the configuration space, and on using an off-line pre-planning stage to choose the restricted subset. In this paper, strategy-based path planning is applied and explored, focusing our attention on the off-line stage. It is applied to the joint motion of two and three robots that perform pick and place tasks sharing common working areas.     

Comparison of Fe-Ni based alloys prepared by ball milling and rapid solidification

Mechanical alloying (MA) and rapid solidification (RS) are two important routes to obtain amorphous alloys. An Fe-Ni based metal-metalloid alloy (Fe₅₀Ni₃₀P₁₄Si₆) prepared by these two different processing routes was studied by differential scanning calorimetry, scanning electron microscopy with microanalysis, inductive coupled plasma, X-ray diffraction (XRD) and transmission Mössbauer spectroscopy (TMS). The results were compared with that obtained from other Fe-Ni based alloys of similar compositions. The structural analyses show that the materials obtained by mechanical alloying are not completely disordered after 40 h of milling whereas fully amorphous alloys were obtained by rapid solidification. TMS analyses show that, independent of the composition, after milling for 40 h, about 7% of the Fe remains unreacted. Furthermore, the thermal stability of mechanically alloyed samples is lower than that of the analogous material prepared by rapid solidification. In the MA alloys, a broad exothermic process associated to structural relaxation begins at low temperature. XRD patterns of crystallized alloys indicate that the crystallization products are bcc(Fe,Ni), fcc(Ni,Fe), and (Fe,Ni)-phosphides and -silicides.     

Anomalous Excess Heat Capacities of Ethanol + Alkane Mixtures

A thermodynamic study at atmospheric pressure on the ethanol + n-dodecane and ethanol + n-tridecane binary systems near their liquid-liquid critical points has been carried out. To this end, densities and speeds of sound were determined in the temperature range from 288.15 to 308.15 K, whereas differential scanning calorimetry was used to obtain isobaric heat capacities per unit volume from 288.15 to 303.15 K as well as liquid-liquid equilibrium curves. All these results for the mentioned properties were obtained over the complete composition range. They were used to obtain molar volumes, isentropic compressibilities, isobaric thermal expansivities, isothermal compressibilities, isochoric heat capacities, and the excess quantities of all these properties. An untypical behavior of the excess heat capacities at the lowest measuring temperatures resulting from the critical behavior of the isobaric heat capacity is observed. No clear anomalies for the excess volumetric properties are detected.