Influence of the Friction Coefficient on the Trajectory Performance for a Car-Like Robot

[EN] A collision-free trajectory planner for a car-like mobile robot moving in complex environments is introduced and the influence of the coefficient of friction on important working parameters is analyzed. The proposed planner takes into account not only the dynamic capabilities of the robot but also the behaviour of the tire. This planner is based on sequential quadratic programming algorithms and the normalized time method. Different values for the coefficient of friction have been taken following a normal Gaussian distribution to see its influence on the working parameters. The algorithm has been applied to several examples and the results show that computation times are compatible with real-time work, so the authors call them efficient generated trajectories as they avoid collisions. Besides, working parameters such as the minimum trajectory time, the maximum vehicle speed, computational time, and consumed energy have been monitored and some conclusions have been reached.This work was supportedby the Spanish Ministryof Economy and Competitiveness, which has funded the DPI2013-44227R project.Valero Chuliá, FJ.; Rubio Montoya, FJ.; Llopis Albert, C.; Cuadrado Iglesias, JI. (2017). Influence of the Friction Coefficient on the Trajectory Performance for a Car-Like Robot. Mathematical Problems in Engineering. (4562647):1-9. https://doi.org/10.1155/2017/4562647S19456264

Optimal time trajectories for industrial robots with torque, power, jerk and energy consumed constraints

This article is (c) Emerald Group Publishing and permission has been granted for this version to appear here https://riunet.upv.es/. Emerald does not grant permission for this article to be further copied/distributed or hosted elsewhere without the express permission from Emerald Group Publishing Limited.[EN] Purpose - The purpose of this paper is to analyze the impact of the torque, power, jerk and energy consumed constraints on the generation of minimum time collision-free trajectories for industrial robots in a complex environment. Design/methodology/approach - An algorithm is presented in which the trajectory is generated under real working constraints (specifically torque, power, jerk and energy consumed). It also takes into account the presence of obstacles (to avoid collisions) and the dynamics of the robotic system. The method solves an optimization problem to find the minimum time trajectory to perform the tasks the robot should do. Findings - Important conclusions have been reached when solving the trajectory planning problem related to the value of the torque, power, jerk and energy consumed and the relationship between them, therefore enabling the user to choose the most efficient way of working depending on which parameter he is most interested in optimizing. From the examples solved the authors have found the relationship between the maximum and minimum values of the parameters studied. Research limitations/implications - This new approach tries to model the real behaviour of the actuators in order to be able to upgrade the trajectory quality, so a lot of work has to be done in this field. Practical implications - The algorithm solves the trajectory planning problem for any industrial robot and the real characteristics of the actuators are taken into account, which is essential to improve the performance of it. Originality/value - This new tool enables the performance of the robot to be improved by combining adequately the values of the mentioned parameters (torque, power, jerk and consumed energy).This paper has been made possible thanks to support from the Spanish Ministry of Science and Innovation, through the Project for Research and Technological Development, ref. DPI2010-20 814-C02-01.Rubio Montoya, FJ.; Valero Chuliá, FJ.; Suñer Martinez, JL.; Cuadrado Iglesias, JI. (2012). Optimal time trajectories for industrial robots with torque, power, jerk and energy consumed constraints. Industrial Robot: An International Journal. 39(1):92-100. doi:10.1108/01439911211192538]S9210039

Análisis del Perfíl de los Tutores de Proyectos Fin de Carrera en Telecomunicaciones

El Proyecto Fin de Carrera es un trabajo que deben realizar los alumnos de todas las ingenierías previamente a la obtención del título de Ingeniero. Este trabajo prepara a los alumnos para afrontar la transición entre los conocimientos adquiridos durante los estudios de ingeniería y el ejercicio de la profesión. En este proceso de transición, desde la elección del tema de proyecto hasta su elaboración, el tutor juega un papel fundamental. El objetivo de este artículo es analizar las capacidades y carencias de los tutores de Proyecto Fin de Carrera en Ingeniería de Telecomunicación, desde el punto de vista de los alumnos. Para ello, se elaboró un cuestionario en línea que se puso a disposición de los alumnos de Proyecto Fin de Carrera de la Escuela Técnica Superior de Ingeniería de Telecomunicación de la Universidad Politécnica de Madrid. Los resultados muestran que, independientemente del Departamento o área de conocimiento en el que se desarrolle el Proyecto Fin de Carrera, los problemas más destacados por los alumnos están siempre relacionados con la planificación llevada a cabo por los tutores. Algunos de los resultados permiten proponer una serie de recomendaciones de cara a mejorar aspectos relacionados con las funciones del tutor de Proyectos Fin de Carrer

Interactive data visualization of chatter conditions in a cold rolling mill

Artículo publicado en abierto mediante APC Elsevier Open AccessRolling of flat steel products is an industrial process in the field of metalworking where two or more pairs of rolls reduce the thickness of a steel strip to produce a uniform thickness material. Despite it has been studied for many years, there are still unpredictable problems that can affect the final quality of the product. One of them is the so-called chatter, that is a powerful self-excited vibration that appears suddenly and limits the productivity of the process. In this paper, a visual analytics approach is considered for exploratory analysis in order to discover and understand the factors and conditions under which chatter appears. An interactive web-based interface is presented here which allows the user to explore a map of dynamical conditions and visualize relevant details of each chatter onset. A validation case is performed using real data where normal/fault conditions have been identified automatically. By means of interactive exploration, the tool allows to refine an automatic chatter detection method. Moreover, it is shown to reveal correlations between variables, providing in some expected cases data-based confirmation, but also revealing less obvious relationships. Finally, it provides context, allowing to carry out comparative analysis, both qualitative and quantitative, for different subsets of coils (e.g. different years) as well as for different working condition

Physiopathological role of extracellular vesicles in alloimmunity and kidney transplantation and their use as biomarkers

Antibody-mediated rejection is the leading cause of kidney graft dysfunction. The process of diagnosing it requires the performance of an invasive biopsy and subsequent histological examination. Early and sensitive biomarkers of graft damage and alloimmunity are needed to identify graft injury and eventually limit the need for a kidney biopsy. Moreover, other scenarios such as delayed graft function or interstitial fibrosis and tubular atrophy face the same problem. In recent years, interest has grown around extracellular vesicles, specifically exosomes actively secreted by immune cells, which are intercellular communicators and have shown biological significance. This review presents their potential as biomarkers in kidney transplantation and alloimmunity

Análisis experimental y numérico del material compuesto de aramida frente a impacto balístico

Ponencia presentada en el XXII Congreso Nacional de Ingeniería Mecánica (CNIM 18) celebrado del 19 al 21 de septiembre de 2018 en Madrid.En este trabajo se ha realizado un estudio experimental y numérico del comportamiento mecánico un casco de combate frente a impacto balístico de projectiles esféricos de 1.7 gramos. Se ha desarrollado un modelo numérico que ha sido calibrado y validado mediante ensayos experimentales en placas de diferente espesor. Un vez validado el modelo, se han desarrollado los ensayos experimentales en el casco de combate. Entre las conclusiones de este trabajo destaca que localización del impacto en el casco influye notablemente en el límite balístico. Cabe destacar que el modelo numérico es capaz de reproducir cada capa del casco de combate lo cual puede ser beneficioso para llevar a cabo futuras investigaciones sobre el casco con aramida u otro material.Los autores agradecen al Ministerio de Economía y Competitividad de España y al programa FEDER del Proyecto RTC-2015-3887-8 y al Proyecto DPI2017-88166-R por el apoyo financiero de la obra

Una Experiencia de unificación de asignaturas para desplegar PBL (y las quejas que originó)

En esta ponencia se describen los aspectos esenciales de una experiencia de unificación de parejas de asignaturas con el objetivo de crear un escenario más adecuado para el despliegue de Aprendizaje Basado en Proyectos. Como guía para el repaso de esos aspectos esenciales se utiliza una carta que elaboraron los estudiantes de la primera edición para protestar por el funcionamiento de las asignaturas. El análisis de las quejas de los estudiantes puede ser de mucha utilidad para otros que se planeen retos similares.SUMMARY -- This paper describes the key aspects of an experience of unification of pairs of subjects in order to create a more suitable scenario for deployment of Project Based Learning. To guide the review of these essential aspects we use a letter that students from the first edition wrote to protest against the organization of the subjects. The analysis of the complaints of the students can be very helpful for others who are planning similar innovations

Update on epidemiology of hepatitis B in a low-endemic European country: There is still much to do

The latest epidemiological data in Spain were obtained a decade ago and revealed a prevalence of hepatitis B surface antigen (HBsAg) of 0.7%; hence, updated epidemiological data are necessary. Our aim was to determine the prevalence of hepatitis B virus (HBV) infection, and to analyse associated factors and characterize chronic infection. A population-based, cross-sectional study was performed in Spain between July 2015 and April 2017. Participants from three regions were selected using two-stage conglomerate sampling and stratified by age. Anthropometric and demographic data were collected, and blood samples were taken to detect serological markers of HBV infection and to quantify HBV-DNA. The characterization of chronic HBV infection was based on ALT (alanine aminotransferase) values, HBV-DNA levels, and results of transient elastography. The overall prevalence rates of HBsAg and antibody to hepatitis B core antigen (anti-HBc) among 12 246 participants aged 20-74 years (58.4% females) were 0.6% (95% CI [0.4-0.7]) and 8.2% (7.7-8.7), respectively. The risk factors for HBV infection identified in the multivariate analysis were age, nosocomial risk, and non-Spanish nationality. Moreover, most patients HBsAg positive (76.6%) presented as hepatitis B e antigen (HBeAg)?negative chronic infection (formerly ?inactive carriers?) and only 6 (9.4%) HBsAg carriers fulfilled current criteria for treatment. The current HBV burden in Spain remains low but virtually unchanged over the past 15 years. Increased efforts are still needed to reach the goal set forth by the World Health Organization (WHO) for HBV elimination by 2030

Ivabradine in acute heart failure: Effects on heart rate and hemodynamic parameters in a randomized and controlled swine trial

Background: Acute heart failure patients could benefit from heart rate reduction, as myocardial consumption and oxidative stress are related to tachycardia. Ivabradine could have a clinical role attenuating catecholamine-induced tachycardia. The aim of this study was to evaluate hemodynamic effects of ivabradine in a swine model of acute heart failure. Methods: Myocardial infarction was induced by 45 min left anterior descending artery balloon occlusion in 18 anesthetized pigs. An infusion of dobutamine and noradrenaline was maintained aiming to preserve adequate hemodynamic support, accompanied by fluid administration to obtain a pulmonary wedged pressure ≥ 18 mmHg. After reperfusion, rhythm and hemodynamic stabilization, the animals were randomized to 0.3 mg/kg ivabradine intravenously (n = 9) or placebo (n = 9). Hemodynamic parameters were observed over a 60 min period. Results: Ivabradine was associated with a significant reduction in heart rate (88.4 ± 12.0 bpm vs. 122.7 ± 17.3 bpm after 15 min of ivabradine/placebo infusion, p < 0.01) and an increase in stroke volume (68.8 ± 13.7 mL vs. 52.4 ± 11.5 mL after 15 min, p = 0.01). There were no significant differences in systemic or pulmonary arterial pressure, or significant changes in pulmonary capillary pressure. However, after 15 min, cardiac output was significantly reduced with ivabradine (–5.2% vs. +15.0% variation in ivabradine/placebo group, p = 0.03), and central venous pressure increased (+4.2% vs. –19.7% variation, p < 0.01). Conclusions: Ivabradine reduces heart rate and increases stroke volume without modifying systemic or left filling pressures in a swine model of acute heart failure. However, an excessive heart rate reduction could lead to a decrease in cardiac output and an increase in right filling pressures. Future studies with specific heart rate targets are needed

Ivabradine in acute heart failure: Effects on heart rate and hemodynamic parameters in a randomized and controlled swine trial.

Background: Acute heart failure patients could benefit from heart rate reduction, as myocardial consumption and oxidative stress are related to tachycardia. Ivabradine could have a clinical role attenuating catecholamine-induced tachycardia. The aim of this study was to evaluate hemodynamic effects of ivabradine in a swine model of acute heart failure. Methods: Myocardial infarction was induced by 45 min left anterior descending artery balloon occlusion in 18 anesthetized pigs. An infusion of dobutamine and noradrenaline was maintained aiming to preserve adequate hemodynamic support, accompanied by fluid administration to obtain a pulmonary wedged pressure ≥ 18 mmHg. After reperfusion, rhythm and hemodynamic stabilization, the animals were randomized to 0.3 mg/kg ivabradine intravenously (n = 9) or placebo (n = 9). Hemodynamic parameters were observed over a 60 min period. Results: Ivabradine was associated with a significant reduction in heart rate (88.4 ± 12.0 bpm vs. 122.7 ± 17.3 bpm after 15 min of ivabradine/placebo infusion, p < 0.01) and an increase in stroke volume (68.8 ± 13.7 mL vs. 52.4 ± 11.5 mL after 15 min, p = 0.01). There were no significant differences in systemic or pulmonary arterial pressure, or significant changes in pulmonary capillary pressure. However, after 15 min, cardiac output was significantly reduced with ivabradine (–5.2% vs. +15.0% variation in ivabradine/placebo group, p = 0.03), and central venous pressure increased (+4.2% vs. – 19.7% variation, p < 0.01). Conclusions: Ivabradine reduces heart rate and increases stroke volume without modifying systemic or left filling pressures in a swine model of acute heart failure. However, an excessive heart rate reduction could lead to a decrease in cardiac output and an increase in right filling pressures. Future studies with specific heart rate targets are needed.pre-print2533 K