Multirobot heterogeneous control considering secondary objectives

Cooperative robotics has considered tasks that are executed frequently, maintaining the shape and orientation of robotic systems when they fulfill a common objective, without taking advantage of the redundancy that the robotic group could present. This paper presents a proposal for controlling a group of terrestrial robots with heterogeneous characteristics, considering primary and secondary tasks thus that the group complies with the following of a path while modifying its shape and orientation at any time. The development of the proposal is achieved through the use of controllers based on linear algebra, propounding a low computational cost and high scalability algorithm. Likewise, the stability of the controller is analyzed to know the required features that have to be met by the control constants, that is, the correct values. Finally, experimental results are shown with di erent configurations and heterogeneous robots, where the graphics corroborate the expected operation of the proposalThis research was funded by Corporación Ecuatoriana para el Desarrollo de la Investigación y Academia–CEDI

Catching-up Algorithm with Approximate Projections for Moreau's Sweeping Processes

In this paper, we develop an enhanced version of the catching-up algorithm for sweeping processes through an appropriate concept of approximate projections. We establish some properties of this notion of approximate projection. Then, under suitable assumptions, we show the convergence of the enhanced catching-up algorithm for prox-regular, subsmooth, and merely closed sets. Finally, we discuss efficient numerical methods for obtaining approximate projections. Our results recover classical existence results in the literature and provide new insight into the numerical simulation of sweeping processes.Comment: 23 page

Effects of a Tapering Period on Physical Condition in Soccer Players

The aim of this research was to analyze the effects of a 2-week step tapering period on lower-limb muscle power, change of direction (COD) and acceleration capacities, and on the stress-recovery state in an amateur soccer team. Twenty-two male players were included in the study. After a 6-week progressive training, the sample was divided into experimental group (EG) (n = 11), which did a 2-week period of taper in which training volume was 50% reduced (intensity was kept high) and control group (CG) (n = 11), which kept on with the training. Muscle power (countermovement jump test), acceleration (10-m sprint test), COD (Illinois test), and stress and recovery perceptions (RESTQ questionnaire) were evaluated before training, at the end of it (pretapering, PRE-TP) and after the tapering period (posttapering, POST-TP). After the taper, the EG in comparison with the CG showed significantly improved power (1,029.71 ± 108.51 W·kg−1 vs. 1,084.21 ± 110.87 W·kg−1; p ≤ 0.01), acceleration (1.72 ± 0.09 seconds vs. 1.67 ± 0.07 seconds; p ≤ 0.05), and lower stress levels (1.9 ± 0.5 vs. 1.6 ± 0.5; p ≤ 0.01) (PRE-TP vs. POST-TP, respectively). Change of direction did not show significant changes. In conclusion, a 2-week step tapering program was found to be an effective periodization strategy to increase muscle power and acceleration, and to reduce stress perception in soccer amateur players

Presunción legal de paternidad en la unión marital de hecho: Un estudio desde el principio de igualdad

Presunción legal de paternidad en la unión marital de hecho: Un estudio desde el principio de igualda