An identified LPV model for mobile robots navigation with audio features

Non-speech audio is becoming more attractive to be used as features to mobile robots navigation in industrial environments. In this paper authors present their advances in determining robot’s position in indoor spaces using as sound sources industrial machines. A novel model is build to locate the robot under different spaces. An identification process is used to obtain the LPV model and it is validated using a real robot. Some uncertainties due to the robot motion and other factors have been taken into account when determining the robot’s position and the obtained results demonstrate the validity of the model.Peer ReviewedPostprint (published version

Improved graphene blisters by ultrahigh pressure sealing

Graphene is a very attractive material for nanomechanical devices and membrane applications. Graphene blisters based on silicon oxide micro-cavities are a simple but relevant example of nanoactuators. A drawback of this experimental set up is that gas leakage through the graphene-SiO2 interface contributes significantly to the total leak rate. Here we study the diffusion of air from pressurized graphene drumheads on SiO2 micro-cavities and propose a straightforward method to improve the already strong adhesion between graphene and the underlying SiO2 substrate, resulting in reduced leak rates. This is carried out by applying controlled and localized ultrahigh pressure (> 10 GPa) with an Atomic Force Microscopy diamond tip. With this procedure, we are able to significantly approach the graphene layer to the SiO2 surface around the drumheads, thus enhancing the interaction between them allowing us to better seal the graphene-SiO2 interface, which is reflected in up to ~ 4 times lower leakage rates. Our work opens an easy way to improve the performance of graphene as a gas membrane on a technological relevant substrate such as SiO2.Comment: pages 19, 4 figures + supplementary informatio

Educational innovation project: critical architecture

[EN] The cross-disciplinary skill of critical thinking is essential to all levels of architectural training. However, it has been established that at present students are not always able to make solid architectural critical thinking. This paper presents the development of an action protocol proposed to consciously contribute to exercising this cross-disciplinary skill among students participating in the educational innovation project: ¿Critical architecture. Development of a methodology to work on the cross-disciplinary skill of critical thinking among architecture students¿. The research proposed is developed as part of different subjects of the Architecture degree of the UPV Higher Technical School of Architecture: two obligatory 4th-year subjects and an obligatory 5th-year subject. This proposal has also incorporated an elective subject from the Master¿s in Architecture and two subjects from the Official Master¿s in Conservation of Architectural Heritage. The educational innovation project therefore covers six different subjects in total: three from the degree (4th and 5th year) (skill level II) and three from the master¿s (skill level III). The main aim of the project is to carry out different learning actions (adapted to each of the subjects covered by the project) in order to structure a work methodology designed to improve and develop the cross-disciplinary skill of critical thinking among students at different levels. Work will also be carried out to improve students¿ awareness of their ability in this skill. This innovation project is also geared towards improving student learning in the specific curriculum for each subject included in the project. Therefore, if this methodology yields positive results, it could be adapted to other skill levels as yet undeveloped, such as skill level 1 in 2nd and 3rd year subjects.This research was funded through a UPV Educational Innovation and Improvement Project (PIME) in the modality of projects for curricular innovation in subjects.García-Soriano, L.; Diodato, M.; Cristini, V.; Hernández Navarro, Y.; Mileto, C.; Vegas López-Manzanares, F. (2020). Educational innovation project: critical architecture. IATED Academy. 4508-4512. https://doi.org/10.21125/edulearn.2020.1189S4508451

Técnica de localización de móviles en plantas industriales basada en el estudio de señales de audio estacionarias

En este artículo se presenta un nuevo método para la localización de robots móviles. La determinación de la posición se basa en el uso de fuentes estáticas de sonido las cuales emiten periódicamente. A través del aprendizaje basado en varias muestras conocidas sus posiciones, el algoritmo localiza la posición del robot para nuevas muestras. La tasa de error es en varios casos inferior al 1%.Peer ReviewedPostprint (published version

Implantació i difusió de la competència sostenibilitat i compromís social en l’enginyeria de sistemes

L’objectiu d’aquest projecte és dotar al cos docent de la UPC de materials, coneixements i sensibilitat necessaris per integrar en els seus ensenyaments la competència transversal de la “Sostenibilitat i el Compromís Social”. Aquesta competència ja s’ha començat a impartir en el primer curs d’alguns dels nous Graus a la UPC, però encara queda una gran tasca per acomplir: estendre i ampliar la competència en les assignatures de cursos superiors i, sobretot, en les especialitats de 5è i 6è quadrimestre. Per cobrir aquesta mancança encara no estan en marxa la creació de materials ni la preparació del personal docent que haurà de desplegar la competència. La finalitat, doncs, del projecte és dotar de capacitat al professorat per integrar la competència de “Sostenibilitat i Compromís Social” en les assignatures de cursos superiors i especialitats. Ho hem centrat bàsicament en l’àrea de l’Enginyeria de Sistemes tot i que també volem que sigui un exemple a seguir per altres àrees. Cal remarcar que aquest projecte és la continuació d’un projecte desenvolupat pels mateixos autors per integrar la competència en els primers quatrimestres dels nous Graus.Peer Reviewe

A virtual classroom for architectural composition subject: a reflection about opportunities and limits

[EN] This text aims to be a general reflection about the implementation of a virtual classroom, for the subject of Architectural Composition, as a compulsory subject in the framework of "Architecture Degree", teached in the Higher Technical School of Architecture, Polytechnic University of Valencia, Spain. Considering the general circumstancies (caused by Coronavirus, above all starting from spring 2020) the experience can be understood as an interesting tool to help others theorical subjects involved in the same framework. In this context, the text proposes to carry out a synthesis of details and methods structured in the subject 's dynamics because of the sanitary circustancies . In this frame the subject's program has been modified to to fit with specific mechanisms of remote teaching. In a scenario of a real " moment of crisis", the subject has been fully adapted and organized to new teaching frameworks. In this context, the text describes the methodological guidelines developed for the creation of a virtual classroom and, at the same time, the text proposes to figure out the tools used to achieve f teaching and learning objectives with the help new technologies. This adaptation has implied a series of limitations and difficulties, as well as a whole range of opportunities and pedagogical resources to be used in a new way. In addition, there are several common aspects between face-to-face teaching and on line strategies that the paper tries to define and clarify.This text is part of the Project for Educational Innovation and Improvement ARQUITECTURA CRÍTICA. Desarrollo de una metodología para trabajar la competencia transversal de Pensamiento crítico en estudiantes de arquitectura, main researcher: C. Mileto, funded by the Institute of Education Sciences of the Universitat Politècnica de València.Cristini, V.; García-Soriano, L.; Hernández Navarro, Y.; Baró Zarzo, JL.; Diodato, M.; Vegas López-Manzanares, F. (2021). A virtual classroom for architectural composition subject: a reflection about opportunities and limits. IATED. 6441-6445. https://doi.org/10.21125/inted.2021.1288S6441644

Improved graphene blisters by ultrahigh pressure sealing

This document is the Accepted Manuscript version of a Published Work that appeared in final form in ACS Applied Materials and Interfaces, copyright © American Chemical Society after peer review and technical editing by the publisher. To acces final work see “Improved Graphene Blisters by Ultrahigh Pressure Sealing”, ACS Applied Materials and Interfaces 12.33 (2020): 37750-37756, 10.1021/acsami.0c09765Graphene is a very attractive material for nanomechanical devices and membrane applications. Graphene blisters based on silicon oxide microcavities are a simple but relevant example of nanoactuators. A drawback of this experimental setup is that gas leakage through the graphene-SiO2 interface contributes significantly to the total leak rate. Here, we study the diffusion of air from pressurized graphene drumheads on SiO2 microcavities and propose a straightforward method to improve the already strong adhesion between graphene and the underlying SiO2 substrate, resulting in reduced leak rates. This is carried out by applying controlled and localized ultrahigh pressure (>10 GPa) with an atomic force microscopy diamond tip. With this procedure, we are able to significantly approach the graphene layer to the SiO2 surface around the drumheads, thus enhancing the interaction between them, allowing us to better seal the graphene-SiO2 interface, which is reflected in up to ∼4 times lower leakage rates. Our work opens an easy way to improve the performance of graphene as a gas membrane on a technological relevant substrate such as SiO2We acknowledge financial support from the Spanish Ministry of Science and Innovation, through the “Marı́ ́ a de Maeztu” Programme for Units of Excellence in R&D (CEX2018- 000805-M), projects PID2019-106268GB, S2018/NMT-451, and FLAG-ERA JTC2017, and the Ramon Areces Foundation. G.L.-P. acknowledges financial support through the “Juan de la Cierva” Fellowship FJCI-2017-3237

Fatigue response of MoS2 with controlled introduction of atomic vacancies

Fatigue-induced failure resulting from repetitive stress-strain cycles is a critical concern in the development of robust and durable nanoelectromechanical devices founded on 2D semiconductors. Defects, such as vacancies and grain boundaries, inherent in scalable materials can act as stress concentrators and accelerate fatigue fracture. Here, we investigate MoS2 with controlled atomic vacancies, to elucidate its mechanical reliability and fatigue response as a function of atomic defect density. High-quality MoS2 demonstrates an exceptional fatigue response, enduring 109 cycles at 80% of its breaking strength (13.5 GPa), surpassing the fatigue resistance of steel and approaching that of graphene. The introduction of atomic defect densities akin to those generated during scalable synthesis processes (∼1012 cm-2) reduces the fatigue strength to half the breaking strength. Our findings also point toward a sudden defect reconfiguration prior to global failure as the primary fatigue mechanism, offering valuable insights into structure-property relationshipsS2018/NMT-432