Locomotion gait optimization for a quadruped robot

This article describes the development of a gait optimization system that allows a fast but stable robot quadruped crawl gait. We focus in the development of a quadruped robot walking gait locomotion that combine bio-inspired Central Patterns Generators (CPGs) and Genetic Algorithms (GA). The CPGs are modelled as autonomous differential equations, that generate the necessary limb movement to perform the walking gait, and the Genetic Algorithm perform the search of the CPGs parameters. This approach allows to explicitly specify parameters such as amplitude, offset and frequency of movement and to smoothly modulate the generated trajectories according to changes in these parameters. It is therefore easy to combine the CPG with an optimization method. A genetic algorithm determines the best set of parameters that generates the limbs movements. We intend to obtain a walking gait locomotion that minimizes the vibration and maximizes the wide stability margin and the forward velocity. The experimental results, performed on a simulated Aibo robot, demonstrated that our approach allows low vibration with a high velocity and wide stability margin for a quadruped walking gait locomotion

A Global optimization stochastic algorithm for head motion stabilization during quadruped robot locomotion

Visually-guided locomotion is important for autonomous robotics. However, there are several di culties, for instance, the robot locomotion induces head shaking that constraints stable image acquisition and the possibility to rely on that information to act accordingly. In this work, we propose a combined approach based on a controller architecture that is able to generate locomotion for a quadruped robot and a genetic algorithm to generate head movement stabilization. The movement controllers are biologically inspired in the concept of Central Pattern Generators (CPGs) that are modelled based on nonlinear dynamical systems, coupled Hopf oscillators. This approach allows to explicitly specify parameters such as ampli- tude, o set and frequency of movement and to smoothly modulate the generated oscillations according to changes in these parameters. Thus, in order to achieve the desired head movement, opposed to the one induced by locomotion, it is necessary to appropriately tune the CPG parameters. Since this is a non-linear and non-convex optimization problem, the tuning of CPG parameters is achieved by using a global optimization method. The genetic algorithm searches for the best set of parameters that generates the head movement in order to reduce the head shaking caused by locomotion. Optimization is done o ine according to the head movement induced by the locomotion when no stabilization procedure was performed. In order to evaluate the resulting head movement, a tness function based on the Euclidian norm is investigated. Moreover, a constraint handling technique based on tournament selection was im- plemented. Experimental results on a simulated AIBO robot demonstrate that the proposed approach generates head movement that reduces signi cantly the one induced by locomotion

Head motion stabilization during quadruped robot locomotion: combining CPGs and stochastic optimization methods

In this work, the authors propose a combined approach based on a controller architecture that is able to generate locomotion for a quadruped robot and a global optimization algorithm to generate head movement stabilization. The movement controllers are biologically inspired in the concept of Central Pattern Generators (CPGs) that are modelled based on nonlinear dynamical systems, coupled Hopf oscillators. This approach allows for explicitly specified parameters such as amplitude, offset and frequency of movement and to smoothly modulate the generated oscillations according to changes in these parameters. The overall idea is to generate head movement opposed to the one induced by locomotion, such that the head remains stabilized. Thus, in order to achieve this desired head movement, it is necessary to appropriately tune the CPG parameters. Three different global optimization algorithms search for this best set of parameters. In order to evaluate the resulting head movement, a fitness function based on the Euclidean norm is investigated. Moreover, a constraint-handling technique based on tournament selection was implemented

Multiobjective optimization of a quadruped robot locomotion using a genetic algorithm

In this work, it is described a gait multiobjective optimization system that allows to obtain fast but stable robot quadruped crawl gaits. We combine bioinspired Central Patterns Generators (CPGs) and Genetic Algorithms (GA). A motion architecture based on CPGs oscillators is used to model the locomotion of the robot dog and a GA is used to search parameterizations of the CPGs parameters which minimize the body vibration, maximize the velocity and maximize the wide stability margin. In this problem, there are several conflicting objectives that leads to a multiobjective formulation that is solved using the Weighted Tchebycheff scalarization method. Several experimental results show the effectiveness of this proposed approach.Fundação para a Ciência e a Tecnologia (FCT

Development of an innovative macroalgae biorefinery: Oligosaccharides as pivotal compounds

ABSTRACT: Macroalgae have significant advantages over land-living biomass resources and are promising pivotal feedstocks for the onset of the blue bioeconomy. Among these, Ulva lactuca has demonstrated a high potential due to its wide distribution and high productivity. In this work, a detailed chemical characterization of U. lactuca enabled the identification of polysaccharides as the main macromolecular component of the organic fraction. They present a high diversity of sugar constituents and hence can be a relevant source of added-value oligosaccharides for the food/feed industries. Four processes, with increasing operational temperatures, were compared for the selective production of oligosaccharides: Conventional Soxhlet Extraction, Accelerated Solvent Extraction, Hydrothermal treatment (HT) and Dilute Acid Hydrolysis (DAH). All processes presented high oligosaccharide/monosaccharide ratios, with HT and DAH exhibiting the highest oligosaccharides yields (10.6 and 16.6 g/100 g initial biomass, respectively). These oligosaccharides were obtained under milder, more economic conditions than the reported for lignocellulosic (land) plants and can represent an important added-value income of the algae biorefineries and thus contribute to their economic sustainability.info:eu-repo/semantics/publishedVersio

Electrochemical methods in pesticides control

The state of the art of voltammetric and amperometric methods used in the study and determination of pesticides in crops, food, phytopharmaceutical products, and environmental samples is reviewed. The main structural groups of pesticides, i.e., triazines, organophosphates, organochlorides, nitrocompounds, carbamates, thiocarbamates, sulfonylureas, and bipyridinium compounds are considered with some degradation products. The advantages, drawbacks, and trends in the development of voltammetric and amperometric methods for study and determination of pesticides in these samples are discussed

Mathematical modelling of convective drying of Galega kale

info:eu-repo/semantics/publishedVersio

Porous aligned ZnSr-doped β-TCP/silk fibroin scaffolds using ice-templating method for bone tissue engineering applications

The bone is a complex and dynamic structure subjected to constant stress and remodeling. Due to the worldwide incidence of bone disorders, engineered bone tissues have emerged as solution for bone grafting, which require sophisticated scaffolding architectures while keeping high mechanical performance. However, the conjugation of bone-like scaffold architecture with efficient mechanical properties is still a critical challenge for biomedical applications.  In this sense, the present study is focused on the development of silk fibroin (SF) scaffolds crosslinked with horseradish peroxidase and mixed with zinc (Zn) and strontium (Sr)-doped β-tricalcium phosphate (ZnSr.TCP) to mimic bone structures. The ZnSr.TCP-SF hydrogels were tuned in programmable ice-templating parameters, and further freeze-dried, to obtain 3D scaffolds with controlled pore orientation. The results showed interconnected channels in the ZnSr.TCP-SF scaffolds that mimic the porous network of the native subchondral bone. The architecture of the scaffolds was characterized by microCT and showing tunable pore size according to freezing temperatures (-196 ºC: ~80.2 ± 20.5 µm; -80 ºC: ~73.1 ± 20.5 µm; -20 ºC: ~104.7 ± 33.7 µm). The swelling ratio, weight loss, and rheological properties were also assessed, revealing that the scaffolds were able to keep their integrity and morphology after aqueous immersion. Thus, the ZnSr.TCP-SF scaffolds made of aligned porous structure were developed as affordable candidates for future applications in clinical osteoregeneration and in vitro bone tissue modelling.FCT for the financial support of the Hierarchitech project (M435 ERA.NET/0001/2014) and for the distinctions attributed to S.P. (CEECIND/03673/2017) and C. 436 G. (SFRH/BPD/94277/2013). R. F. Canadas is also thankful to FCT for the doctoral scholarship 437 (SFRH/BD/92565/2013), Fundo Europeu de Desenvolvimento Regional (FEDER), and Programa 438 Operacional Competitividade e Internacionalização (POCI) for funding the Young Researcher 439 Contract (B-Liver Project, PTDC/EMD-EMD/29139/2017

XRD and FTIR analysis of Ti–Si–C–ON coatings for biomedical applications

Ti–Si–C–ON films were deposited by DC reactive magnetron sputtering using different partial pressure ratio of oxygen (pO2) and nitrogen (pN2). Compositional analysis revealed the existence of three different growth zones for the films; (I) N/Ti = 2.1 (high atomic ratio) and low oxygen content; (II) 0.76 < N/Ti < 2.1 (intermediate atomic ratio) and (III) N/Ti ≤ 0.12 (low ratio) and high oxygen content. For high N/Ti atomic ratio (N/Ti = 2.1) the XRD pattern exhibits reflections that correspond to a mixture of two different phases: a metallic-like Ti and a fcc NaCl type structure. Its electrical resistivity presents a metallic character and, consequently, has high infrared reflectivity. For the intermediate N/Ti ratio (0.76 < N/Ti < 2.1), the films crystallize in a B1-NaCl crystal structure typical for TiC0.2N0.8. Their FTIR spectra present C–N modes, besides the TiN ones, that indicate a progressive substitution of nitrogen by carbon atoms with increasing oxygen content (and lowering N/Ti ratio). For the highest oxygen content (and lower N/Ti ratio) the presence of the Ti–O–Ti stretching mode shows the formation of highly resistive Ti–O compounds consistent with the semiconductor character of this film. Biofilm formation as well as material cytotoxicity seemed to be related with the presence of the Ti

Effects of robotic guidance on the coordination of locomotion

Functional integration of motor activity patterns enables the production of coordinated movements, such as walking. The activation of muscles by weightened summation of activation signals has been demonstrated to represent the spatiotemporal components that determine motor behavior during walking. Exoskeleton robotic devices are now often used in the rehabilitation practice to assist physical therapy of individuals with neurological disorders. These devices are used to promote motor recovery by providing guidance force to the patients. The guidance should in principle lead to a muscle coordination similar to physiological human walking. However, the influence of robotic devices on locomotor patterns needs still to be characterized. The aim of this study was to analyze the effect of force guidance and gait speed on the modular organization of walking in a group of eight healthy subjects.This project is funded by the European Commission, project "BETTER" (contract number 247935) and Spanish Consolider-Ingenio Programme, project "HYPER" (contract number CSD2009-00067) and Universita Degli Studi di Roma "Foro Italico", research project "Dynamic sensorimotor interaction during locomotion: influences of perturbations and/or body unloading"