5 research outputs found

    Advances in Robot Kinematics : Proceedings of the 15th international conference on Advances in Robot Kinematics

    Get PDF
    International audienceThe motion of mechanisms, kinematics, is one of the most fundamental aspect of robot design, analysis and control but is also relevant to other scientific domains such as biome- chanics, molecular biology, . . . . The series of books on Advances in Robot Kinematics (ARK) report the latest achievement in this field. ARK has a long history as the first book was published in 1991 and since then new issues have been published every 2 years. Each book is the follow-up of a single-track symposium in which the participants exchange their results and opinions in a meeting that bring together the best of world’s researchers and scientists together with young students. Since 1992 the ARK symposia have come under the patronage of the International Federation for the Promotion of Machine Science-IFToMM.This book is the 13th in the series and is the result of peer-review process intended to select the newest and most original achievements in this field. For the first time the articles of this symposium will be published in a green open-access archive to favor free dissemination of the results. However the book will also be o↔ered as a on-demand printed book.The papers proposed in this book show that robot kinematics is an exciting domain with an immense number of research challenges that go well beyond the field of robotics.The last symposium related with this book was organized by the French National Re- search Institute in Computer Science and Control Theory (INRIA) in Grasse, France

    Textile materials

    Get PDF
    In this specialised publication, the reader will find research results and real engineering developments in the field of modern technical textiles. Modern technical textile materials, ranging from ordinary reinforcing fabrics in the construction and production of modern composite materials to specialised textile materials in the composition of electronics, sensors and other intelligent devices, play an important role in many areas of human technical activity. The use of specialized textiles, for example, in medicine makes it possible to achieve important results in diagnostics, prosthetics, surgical practice and the practice of using specialized fabrics at the health recovery stage. The use of reinforcing fabrics in construction can significantly improve the mechanical properties of concrete and various plaster mixtures, which increases the reliability and durability of various structures and buildings in general. In mechanical engineering, the use of composite materials reinforced with special textiles can simultaneously reduce weight and improve the mechanical properties of machine parts. Fabric- reinforced composites occupy a significant place in the automotive industry, aerospace engineering, and shipbuilding. Here, the mechanical reliability and thermal resistance of the body material of the product, along with its low weight, are very relevant. The presented edition will be useful and interesting for engineers and researchers whose activities are related to the design, production and application of various technical textile materials

    Design and closed-loop control of a tri-layer Polypyrrole based telescopic soft robot

    No full text
    International audienceA novel structure of a 2 DoF telescopic soft robot using a tri-layer Polypyrrole (PPy) soft micro-actuator with deployment is presented in this paper. The kinematic model is introduced and the Position Based Visual Servo (PBVS) control with path-planning and obstacle avoidance algorithms is developed. A prototype is presented and the control schemes are validated experimentally. A satisfactory accuracy with a submillimetric positioning error is obtained namely 287.6 microns for a circular path and 210 microns for obstacle avoidanc

    Rare Earth Elements analysis to identify anthropogenic signatures at Valle del Serpis (Spain) Neolithic settlements

    Get PDF
    Due to their particular geochemical properties and stability Rare Earth Elements (REE) can act as a ‘fingerprint’ for soils, and as a consequence have been employed in a variety of different archaeological scenarios in order to identify past human activities.In this study, for the first time, we apply REE signatures in different Spanish Neolithic settlements, all located in the Valle del Serpis region. More than 100 Neolithic settlements have been identified in this area, and most of these open sites are characterised by dark brown strata that are in contrast with the light brown soils of the valley. These dark brown deposits are usually covered by paleosols and have been interpreted as markers of anthropogenic activities. However, in order to demonstrate whether these strata are anthropogenic or natural features requires a better understand-ing of soil development processes. A total of fifty samples were taken across six different sites, and from each site the sam-pling was carried out at different depths through 3m deep sections. Four sites are clearly associated with archaeological findings (sites BF, LP, PB and AC); another one is from a natural section near the Neolithic site of Mas d’Is (MD) and has been radiocarbon dated to the beginning of the Holocene (7751-7611 cal BC); and the last corresponds to a place of uncertain attribution (BK). Major, minor and trace elements including REE were determined using XRF and ICP- MS, with Principal Components Analysis (PCA) used to statistically analyze these data. Results were then compared with the strata soil properties analysed by XRD and particle size analysis, and cross-referenced with archaeological data to aid interpretation. The results demonstrate that REE analyses provide significant details regarding anthropogenic activities and strata development history, and in this instance confirm and elaborate on the archaeological interpretation that these dark brown deposits are evidence of a region-wide agricultural system in the Neolithic Valle del Serpis

    The source of the building stones from the Sagunto Castle archaeological area and its surroundings

    Get PDF
    A multidisciplinary study was carried out on the building stones of the masonries belonging to the Castle of Sagunto (Valencia, Spain), an important historical and archeological complex, characterized by several construction phases from the Roman Period to the Modern Ages. For the first time, the stones of the Sagunto Castle have been analysed to determine their chemical, mineralogical and petrographic features, the main physical and mechanical properties, and to understand their decay, use and recycling dynamics in the different building during the entire occupational period. Geochemical and mineralogical analyses employing X-ray fluorescence (XRF), inductively coupled plasma mass spectrometry (ICP-MS) and X-ray diffraction (XRD) were carried out together with optical and electronic microscope analysis to observe the stone macro- and micro-structures. The collected data were processed by Principal Component Analysis (PCA) to highlight differences among the studied structures. The results show that the stones employed to build Sagunto`s structures during the different historical periods are related to a specific quarried area located nearby Sagunto Castle hill and differences between the studied samples are mostly related to the conservation state of the buildings. Therefore, geochemical analyses confirm the origin of the raw materials, while petrographic and physical analyses have been useful to evaluate the conservation state of the studied Sagunto Castle structures
    corecore