Human Like Adaptation of Force and Impedance in Stable and Unstable Tasks

Abstract—This paper presents a novel human-like learning con-troller to interact with unknown environments. Strictly derived from the minimization of instability, motion error, and effort, the controller compensates for the disturbance in the environment in interaction tasks by adapting feedforward force and impedance. In contrast with conventional learning controllers, the new controller can deal with unstable situations that are typical of tool use and gradually acquire a desired stability margin. Simulations show that this controller is a good model of human motor adaptation. Robotic implementations further demonstrate its capabilities to optimally adapt interaction with dynamic environments and humans in joint torque controlled robots and variable impedance actuators, with-out requiring interaction force sensing. Index Terms—Feedforward force, human motor control, impedance, robotic control. I

Sustainable development of the Romanian rural areas within the present European context

The present concept of rural sustainable development is based on the European model and implies a multifunctional agriculture. The LEADER programme (a part of NRDP) represents an approach that offers new development opportunities for the rural areas. The rural development objectives can be fulfilled both by the locally available financing, and by accessing national and European non-refundable financing, on the basis of real projects

Real-Time optimal scheduling for prosumers resilient to regulatory changes

The last decade marked an exponential increase in photovoltaic (PV) systems installed on the rooftop of domestic residences within Europe. This situation was basically favored by generous financial schemes such as Feed-in-Tariff and the market of green certificates. However, such governmental incentives drastically reduced, or they were already replaced with net-metering schemes which favor different scenarios: increase of self-consumption and decrease of grid-back injections. This unstable regulatory environment puts both new and old owners of PV systems under a regulatory financial risk. Recently, a regulatory resilient architecture, called UniRCon, was proposed, to overcome both financial and technical regulation uncertainties, where local battery energy storage system plays a key role. Besides the architecture we propose a real-time energy management system (EMS) that could be used for the daily operation of such systems. The real-time EMS is needed to prove the feasibility of this solution in short and long run and it could be also used as the main subroutine in the financial risk analysis. The EMS is based on a mixed-integer linear programming energy management tool that considers possible arbitrage benefits due to price difference in the energy purchased from the grid, while explicitly considering the efficiency of the power electronic interfaces (converters) according to the operation point. We prove our approach using a lab-scale experimental setup of a DC residential microgrid. The results are analyzed under realistic operation scenarios derived from one-year load and PV power output measurements

Heterostructures based on maleic anhydride-aniline derivatives monomers thin films for photovoltaic applications

Date du colloque : 05/2014International audienc

ACUPUNCTURE AND BEE VENOM THERAPY IN THE CHRONIC LOW BACK PAIN: A SHORT REVIEW

Background: Many pharmacological and nonpharmacologic therapies are available for the treatment of the low back pain (LBP). Despite medications are the most frequently prescribed therapy for LBP, the use of various complementary medicine techniques is increasing. The paper summarizes the latest evidence on the treatment of musculoskeletal conditions (with special focus on chronic LBP) by using acupuncture and bee venom therapy (BVT). Methodology: The overview is based on English-language studies and articles found by searches of Medline over more than last 10 years. All the paper found that refer to LBP and at least one of the analyzed therapies have been taken into account. Results: The mechanism of action, efficiency, harms, toxicity and contraindications are highlighted for the two therapies. The literature on these topics is extensive and controversial. There are trials in favour of using the two complementary therapies for rheumatic diseases, as well trials arguing that the observed analgesic effects are related to a strong placebo response. Conclusions: The choice of using acupuncture and BVT for chronic LBP depends on various factors related to patient features and preferences, but nowadays an increased attention and support has to be noted

Improving technology transfer through national systems of innovation: climate relevant innovation-system builders (CRIBs)

The Technology Executive Committee (TEC) of the United Nations Framework Convention on Climate Change (UNFCCC) recently convened a workshop seeking to understand how strengthening national systems of innovation (NSIs) might help to foster the transfer of climate technologies to developing countries. This article reviews insights from the literatures on Innovation Studies and Socio-Technical Transitions to demonstrate why this focus on fostering innovation systems has potential to be more transformative as an international policy mechanism for climate technology transfer than anything the UNFCCC has considered to date. Based on insights from empirical research, the article also articulates how the existing architecture of the UNFCCC Technology Mechanism could be usefully extended by supporting the establishment of CRIBs (climate relevant innovation-system builders) in developing countries – key institutions focused on nurturing the climate-relevant innovation systems and building technological capabilities that form the bedrock of transformative, climate-compatible technological change and development

A Study on MoS 2 Thin Films Electrochemically Deposited in Ethylene Glycol at 165°C

The electrosynthesis of nanoparticle thin films of MoS 2 from solutions of (NH 4 ) 2 MoS 4 in ethylene glycol at 165°C, is described. The as-deposited MoS 2 thin films (~150 nm thick) were X-ray amorphous and exhibited featureless optical absorption spectra over the 1-3.5 eV spectral range. High resolution transmission electron microscopy (HRTEM) revealed the presence of single or double (0002) plane-sized 2H-MoS 2 thin nanoplatelets (~2-3 nm) embedded in an amorphous matrix. Annealing the as-deposited samples under Ar for 1 h at 550°C, resolved a broad and weak-intensity peak in the respective X-ray spectra, identified as th