A contribution to collision-free trajectory planning for handling systems in varying environments

In highly flexible and complex handling systems the risk of collision of moving machine components is continuously increasing. When, for example, several robots share the same workspace and the environment in the workspace is changing due to the operation, the robot trajectories can no longer be planned in advance without the risk of collision. The objective of this paper is the collision-free motion planning of handling system manipulators from the start to the end position within a changing environment. For this purpose, the trajectories on the control system have to be planned during the operating time most efficiently depending on the current state of a varying environment. This paper describes a new approach for trajectory planning based on curve shortening flows combined with potential fields. The functional capability of the method will be demonstrated initially on a simple robot kinematics with two degrees of freedom.     

Upcycling of polypropylene with various concentrations of peroxydicarbonate and dilauroyl peroxide and two processing steps

The influence of two peroxides (peroxydicarbonate/dilauroyl peroxide) with various concentrations (10–200 mmol/kg PP) and their effective opportunity to introduce long chain branched (LCB) were investigated. The dependence of a single and double extrusion step and the changes of the properties were studied. Experiments were carried out in a single screw extruder at 180°C for the first extrusion step (modification) and at 240°C for the second extrusion step (processing simulation). Melt flow rate and dynamic rheological properties were studied at a measuring temperature of 230°C. For the definitive determination of long chain branched polypropylene (LCB-PP) served the extensional rheology measurements. The mechanical properties were examined via tensile test and impact tensile test. Summarized, LCB (melt strength) could be observed via extensional rheology for all modified specimens and the mechanical properties were maintained or even improved for the modified samples. Particularly, samples containing dilauroyl peroxide display excellent mechanical properties in this study.     

Percutaneous Coronary Intervention (PCI) Reprograms Circulating Extracellular Vesicles from ACS Patients Impairing Their Cardio-Protective Properties

Extracellular vesicles (EVs) are promising therapeutic tools in the treatment of cardiovascular disorders. We have recently shown that EVs from patients with Acute Coronary Syndrome (ACS) undergoing sham pre-conditioning, before percutaneous coronary intervention (PCI) were cardio-protective, while EVs from patients experiencing remote ischemic pre-conditioning (RIPC) failed to induce protection against ischemia/reperfusion Injury (IRI). No data on EVs from ACS patients recovered after PCI are currently available. Therefore, we herein investigated the cardio-protective properties of EVs, collected after PCI from the same patients. EVs recovered from 30 patients randomly assigned (1:1) to RIPC (EV-RIPC) or sham procedures (EV-naive) ({"type":"clinical-trial","attrs":{"text":"NCT02195726","term_id":"NCT02195726"}}NCT02195726) were characterized by TEM, FACS and Western blot analysis and evaluated for their mRNA content. The impact of EVs on hypoxia/reoxygenation damage and IRI, as well as the cardio-protective signaling pathways, were investigated in vitro (HMEC-1 + H9c2 co-culture) and ex vivo (isolated rat heart). Both EV-naive and EV-RIPC failed to drive cardio-protection both in vitro and ex vivo. Consistently, EV treatment failed to activate the canonical cardio-protective pathways. Specifically, PCI reduced the EV-naive Dusp6 mRNA content, found to be crucial for their cardio-protective action, and upregulated some stress- and cell-cycle-related genes in EV-RIPC. We provide the first evidence that in ACS patients, PCI reprograms the EV cargo, impairing EV-naive cardio-protective properties without improving EV-RIPC functional capability.     

Motormouth: Mere exposure depends on stimulus-specific motor simulations.

The authors apply an embodied account to mere exposure, arguing that through the repeated exposure of a particular stimulus, motor responses specifically associated to that stimulus are repeatedly simulated, thus trained, and become increasingly fluent. This increased fluency drives preferences for repeated stimuli. This hypothesis was tested by blocking stimulus-specific motor simulations during repeated exposure. In Experiment 1, chewing gum while evaluating stimuli destroyed mere exposure effects (MEEs) for words but not for visual characters. However, concurrently kneading a ball left both MEEs unaffected. In Experiment 2, concurrently whispering an unrelated word destroyed MEEs for words but not for characters, even when implemented either exclusively during the initial presentation or during the test phase and when the first presentation involved an evaluation or a mere study of the stimuli. In Experiment 3, a double dissociation between 2 classes of stimuli was demonstrated, namely, words (oral) and tunes (vocal). A concurrent oral task (tongue movements) destroyed MEEs for words but not for tone sequences. A concurrent vocal task (humming “mm-hm”) destroyed MEEs for tone sequences but not for words. (PsycINFO Database Record (c) 2010 APA, all rights reserved)     

Smart consumer load balancing: state of the art and an empirical evaluation in the Spanish electricity market

The basis of an efficient functioning of a power grid is an accurate balancing of the electricity demand of all the consumers at any instant with supply. Nowadays, this task involves only the grid operator and retail electricity providers. One of the facets of the Smart Grid vision is that consumers may have a more active role in the problem of balancing demand with supply. With the deployment of intelligent information and communication technologies in domestic environments, homes are becoming smarter and able to play a more active role in the management of energy. We use the term Smart Consumer Load Balancing to refer to algorithms that are run by energy management systems of homes in order to optimise the electricity consumption, to minimise costs and/or meet supply constraints. In this work, we analyse different approaches to Smart Consumer Load Balancing based on (distributed) artificial intelligence. We also put forward a new model of Smart Consumer Load Balancing, where consumers actively participate in the balancing of demand with supply by forming groups that agree on a joint demand profile to be contracted in the market with the mediation of an aggregator. We specify the business model as well as the optimisation model for load balancing, showing the economic benefits for the consumers in a realistic scenario based on the Spanish electricity market.     

3D deep X-ray lithography for producing a multi-channel Fourier transform interferometer

We introduce a modified LIGA process architecture to manufacture a static lamellar grating Fourier-transform spectrometer invented by Moser and Möller (European patent EP 0 765 488 B1, 1994). Such spectrometers hold unique advantages over common Michelson-type FTIRs including high time resolution, speed, compactness, and robustness. To cope with the spectrometer’s demand for precise high-aspect-ratio micro-fabrication, we present a modified LIGA process which enhances the X-ray lithography by means of a moving mask technique (Heussler and Moser Lithography method and apparatus PCT/SG2011/000376, 2011). The technique relies on independently moving multiple masks stacked on top of each other during the lithographic step and thus allows to locally vary the deposited dose in a positive tone photoresist. First manufacturing results as well as a performance test of a prototype spectrometer are reported.