On multi-objective optimization of planetary exploration rovers applied to ExoMars-type rovers

ExoMars is the first robotic mission of the Aurora program of the European Space Agency (EAS). Surface mobility (as provided by ExoMarks rover) is one of the enabling technologies necessary for future exploration missions. This work uses previouly developed mathematical models to represent an ExoMars rover operation in soft/rocky terrain. The models are used in an optimization loop to evaluate multiple objective functions affected by the change in geometrical design parameters. Several objective funktions can be used in our optimization environment powered by MOPS (Multi-Objective Parameter Synthesis). Two environments are used to simulate the rover in stability sensitive conditions and power and sinkage sensitive conditions. Finally, an ExoMars-like configuration is proposed and consistent improvemnt directions are pointed out

Complete set of invariants for a Bykov attractor

In this paper we consider an attracting heteroclinic cycle made by a 1-dimensional and a 2-dimensional separatrices between two hyperbolic saddles having complex eigenvalues. The basin of the global attractor exhibits historic behaviour and, from the asymptotic properties of these non-converging time averages, we obtain a complete set of invariants under topological conjugacy in a neighborhood of the cycle. These invariants are determined by the quotient of the real parts of the eigenvalues of the equilibria, a linear combination of their imaginary components and also the transition maps between two cross sections on the separatrices.Comment: 23 pages, 4 figure

Klein-Gordon Oscillator in Kaluza-Klein Theory

In this contribution we study the Klein-Gordon oscillator on the curved background within the Kaluza-Klein theory. The problem of interaction between particles coupled harmonically with a topological defects in Kaluza-Klein theory is studied. We consider a series of topological defects, that treat the Klein-Gordon oscillator coupled to this background and find the energy levels and corresponding eigenfunctions in these cases. We show that the energy levels depend on the global parameters characterizing these spacetimes. We also investigate a quantum particle described by the Klein-Gordon oscillator interacting with a cosmic dislocation in Som-Raychaudhuri spacetime in the presence of homogeneous magnetic field in a Kaluza-Klein theory. In this case, the spectrum of energy is determined, and we observe that these energy levels are the sum of the term related with Aharonov-Bohm flux and of the parameter associated to the rotation of the spacetime.Comment: 15 pages, no figur

Electrophysiological studies in healthy subjects involving caffeine

Copyright ©2012 IOS Press All rights reserved.We review the electrophysiological studies concerning the effects of caffeine on muscle, lower and upper motor neuron excitability and cognition. Several different methods have been used, such as electromyography, recruitment analysis, H-reflex, transcranial magnetic stimulation (TMS), electroencephalography and event-related potentials. The positive effect of caffeine on vigilance, attention, speed of reaction, information processing and arousal is supported by a number of electrophysiological studies. The evidence in favor of an increased muscle fiber resistance is not definitive, but higher or lower motor neuron excitability can occur as a consequence of a greater excitation of the descending input from the brainstem and upper motor neurons. TMS can address the influence of caffeine on the upper motor neuron. Previous studies showed that cortico-motor threshold and intracortical excitatory and inhibitory pathways are not influenced by caffeine. Nonetheless, our results indicate that cortical silent period (CSP) is reduced in resting muscles after caffeine consumption, when stimulating the motor cortex with intensities slightly above threshold. We present new data demonstrating that this effect is also observed in fatigued muscle. We conclude that CSP can be considered a surrogate marker of the effect of caffeine in the brain, in particular of its central ergogenic effect

Development Environment for Optimized Locomotion System of Planetary Rovers

This paper addresses the first steps that have been undergone to set up the development environement w.r.t optimization and to modelling and simulation of overall dynamics of the rover driving behaviour under all critical surface terrains, like soft and hard soils, slippage, bulldozing effect and digging in soft soil. Optimization is based on MOPS (Multi-Objective Prameter Synthesis), that is capable for handling several objective functions such as mass reduction, motor power reduction, increase of traction forces, rover stability guarantee, and more. The tool interferes with Matlab/Simulink and with Modelica/Dymola for dynamics model implementation. For modelling and simulation of the overall rover dynamics and terramechanical behaviour in all kind of soils we apply a Matlab based tool that takes advantage of the multibody dynamics tool Simpack. First results of very promising rover optimizations 6 wheels are presented that improve ExoMars rover type wheel suspension systems. Performance of driveability behaviour in different soils is presented as well. The next steps are discusses in order to achieve the planned overall development environment

Semilinear fractional differential equations: global solutions, critical nonlinearities and comparison results

In this work we study several questions concerning to abstract fractional Cauchy problems of order α ∈ (0, 1). Concretely, we analyze the existence of local mild solutions for the problem, and its possible continuation to a maximal interval of existence. The case of critical nonlinearities and corresponding regular mild solutions is also studied. Finally, by establishing some general comparison results, we apply them to conclude the global well-posedness of a fractional partial differential equation coming from heat conduction theory.Conselho Nacional de Desenvolvimento Científico e TecnológicoCoordenação de aperfeiçoamento de pessoal de nivel superiorFundação de Amparo à Pesquisa do Estado de São PauloMinisterio de EducaciónMinisterio de Ciencia e InnovaciónJunta de Andalucí