Visual Servoing and Robust Object Manipulation Using Symmetries and Conformal Geometric Algebra

Object tracking and manipulation is an important process for many applications in robotics and computer vision. A novel 3D pose estimation of objects using reflectionally symmetry formulated in Conformal Geometric Algebra (CGA) is proposed in this work. The synthesis of the kinematics model for robots and a sliding mode controller using the CGA approach is described. Real time implementation results are presented for the pose estimation of object using a stereo vision system.ITESO, A.C.CINVESTA

Robust Pose Control of Robot Manipulators Using Conformal Geometric Algebra

A controller, based on sliding mode control, is proposed for the n-link robotic manipulator pose tracking problem. The point pair (a geometric entity expressed in geometric algebra) is used to represent position and orientation of the end-effector of a manipulator. This permits us to express the direct and differential kinematics of the endeffector of the manipulator in a simple and compact way. For the control, a sliding mode controller is designed with the following properties: robustness against perturbations and parameter variations, finite time convergence, and easy implementation. Finally, the application, of the proposed controller in a 6 DOF robotic manipulator is presented via simulation.Consejo Nacional de Ciencia y Tecnologí

Robust Tracking of Bio-Inspired References for a Biped Robot Using Geometric Algebra and Sliding Mode Control

Controlling walking biped robots is a challenging problem due to its complex and uncertain dynamics. In order to tackle this, we propose a sliding mode controller based on a dynamic model which was obtained using the conformal geometric algebra approach (CGA). The CGA framework permits us to use lines, points, and other geometric entities, to obtain the Lagrange equations of the system. The references for the joints of the robot were bio-inspired in the kinematics of a walking human body. The first and second derivatives of the reference signal were obtained through an exact robust differentiator based on high order sliding mode. The performance of the proposed control schemes are illustrated through simulation.ITESO, A.C

Estudio de la idoneidad de un nuevo hormigón estructural fabricado con áridos ligeros reforzados con fibra de carbono sinterizados a partir de residuos

The suitability of three new lightweight aggregates containing carbon fiber residues (CAs) as components in structural lightweight concrete has been studied. Prismatic concrete specimens were prepared using these CAs as a coarse fraction. Additional specimens of normal-weight aggregate, commercial lightweight aggregate and mortar were prepared for comparison. The CA-concrete samples (CACs) have yielded compressive strength values between 35 and 55 MPa as well as low density and thermal conductivity results. Furthermore, the CACs have displayed the highest ratios of mechanical strength over density and the thermal conductivity, which means that there is a better balance between their mechanical and physical properties than in the other samples studied. These results indicate that the new CAs could have great potential for use in structural lightweight concrete, also complying with the principles of the Circular Economy.Este estudio pretende comprobar la idoneidad de unos novedosos áridos ligeros sinterizados con residuos de fibra de carbono (CAs) en la fabricación de hormigón ligero estructural. Se prepararon probetas prismáticas de hormigón, utilizando estos CAs como fracción gruesa, comparándose a su vez con probetas fabricadas con un árido convencional, un árido ligero comercial y mortero. Las muestras de hormigón con los áridos CA (en adelante CAC) han dado lugar a valores de resistencia a compresión entre 35 y 55 MPa, así como a resultados bajos de densidad y conductividad térmica, mostrando además las ratios más altas al relacionar estos tres parámetros. Esto indicaría por tanto un mejor equilibrio entre las propiedades mecánicas y físicas que los obtenidos en las otras muestras estudiadas. Estos resultados apuntan a que los nuevos CAs podrían tener un gran potencial para su uso en hormigón ligero estructural, cumpliendo además los principios de la Economía Circular

Robust Tracking of Bio-Inspired References for a Biped Robot Using Geometric Algebra and Sliding Modes

Controlling walking biped robots is a challenging problem due to its complex and uncertain dynamics. In order to tackle this, we propose a sliding mode controller based on a dynamic model which was obtained using the conformal geometric algebra approach (CGA). The CGA framework permits us to use lines, points, and other geometric entities, to obtain the Lagrange equations of the system. The references for the joints of the robot were bio-inspired in the kinematics of a walking human body. The first and second derivatives of the reference signal were obtained through an exact robust differentiator based on high order sliding modes. The performance of the proposed control scheme is illustrated through simulation.CINVESTA

Multi-mode Flight Sliding Mode Control System for a Quadrotor

There is a wide range of applications for unmanned aerial vehicles that requires the capability of having several and robust flight controllers available. This paper presents the main framework of a multimode flight control system for a quadrotor based on the super twisting control algorithm. The design stages for the four flight control modes encompassing manual, altitude, GPS fixed and autonomous mode are presented. The stability proof for each flight mode is carried out by means of Lyapunov functions while the stability analysis for the complete system, when a transition from one mode to another occurs, is demonstrated using the switching nonlinear systems theory. The performance of the proposed framework is demonstrated in a simulation study taking into account external disturbances.ITESO, A.C.CINVESTAV-IP

Implementing citizen science programmes in the context of university gardens to promote preservice teachers' scientific literacy: a study case on soil

This work presents an assessment of pre-service teachers' argumentative practice, after implementing a novel teaching-learning sequence on soil health including a citizen science programme, which was applied outdoors at the university garden. The sequence was implemented at five Spanish universities with 351 undergraduates studying Early Childhood and Primary Teacher Education. It posed a final assessment task consisting in a real-world situation that involved making decisions on science-related issues: students needed to argue whether it was possible to use a piece of land as a school garden, based on soil data provided in a variety of formats. To assess participants' level of achievement, a rubric was specifically designed by adapting the Evidence-Explanation Continuum approach, which was applied to a subsample of 123 answers (35%). Results evidenced that the process of knowledge-building discourse from initial data to final explanations involved a series of transformations of increasing difficulty, since the percentage of students who were able to correctly accomplish them decreased a long the continuum. Including the citizen science programme promoted the development of basic aspects of scientific literacy related to interpreting data and evidence scientifically but, for students to be generally capable of drawing evidence-based conclusions, argumentation practices should be regularly included in science classes

Biological and synthetic approaches to inhibiting nitrification in non-tilled Mediterranean soils

Background: The increasing demand for food production has led to a tenfold increase in nitrogen (N) fertilizer use since the Green Revolution. Nowadays, agricultural soils have been turned into high-nitrifying environments that increase N pollution. To decrease N losses, synthetic nitrification inhibitors (SNIs) such as 3,4-dimethylpyrazole phosphate (DMPP) have been developed. However, SNIs are not widely adopted by farmers due to their biologically limited stability and soil mobility. On the other hand, allelopathic substances from root exudates from crops such as sorghum are known for their activity as biological nitrification inhibitors (BNIs). These substances are released directly into the rhizosphere. Nevertheless, BNI exudation could be modified or even suppressed if crop development is affected. In this work, we compare the performance of biological (sorghum crop) and synthetic (DMPP) nitrification inhibitors in field conditions. Results: Sorghum crop BNIs and DMPP prevented an increase in the abundance of ammonia-oxidizing bacteria (AOB) without affecting the total bacterial abundance. Both nitrification inhibitors maintained similar soil NH4+ content, but at 30 days post-fertilization (DPF), the sorghum BNIs resulted in higher soil NO3− content than DMPP. Even so, these inhibitors managed to reduce 64% and 96%, respectively, of the NO3−-N/NH4+-N ratio compared to the control treatment. Similar to soil mineral N, there were no differences in leaf δ15N values between the two nitrification inhibitors, yet at 30 DPF, δ15N values from sorghum BNI were more positive than those of DMPP. N2O emissions from DMPP-treated soil were low throughout the experiment. Nevertheless, while sorghum BNIs also maintained low N2O emissions, they were associated with a substantial N2O emission peak at 3 DPF that lasted until 7 DPF. Conclusions: Our results indicate that while sorghum root exudates can reduce nitrification in field soil, even at the same efficiency as DMPP for a certain amount of time, they are not able to prevent the N pollution derived from N fertilization as DMPP does during the entire experiment.This project was funded by the Spanish Government (RTI2018-094623-B-C22 MCIU/AEI/FEDER, UE) and by the Basque Government (IT-932-16). Adrián Bozal-Leorri holds a Grant from the Basque Government (PRE-2020-2-0142). Mario Corrochano-Monsalve holds a Grant from the Ministry of Economy and Business of the Spanish Government (BES-2016-076725)