Redefining the role of obstacles in pedestrian evacuation

The placement of obstacles in front of doors is believed to be an effective strategy to increase the flow of pedestrians, hence improving the evacuation process. Since it was first suggested, this counterintuitive feature is considered a hallmark of pedestrian flows through bottlenecks. Indeed, despite the little experimental evidence, the placement of an obstacle has been hailed as the panacea for solving evacuation problems. In this work, we challenge this idea and experimentally demonstrate that the pedestrians flow rate is not necessarily altered by the presence of an obstacle. This result - which is at odds with recent demonstrations on its suitability for the cases of granular media, sheep and mice - differs from the outcomes of most of existing numerical models, and warns about the risks of carelessly extrapolating animal behaviour to humans. Our experimental findings also reveal an unnoticed phenomenon in relation with the crowd movement in front of the exit: in competitive evacuations, an obstacle attenuates the development of collective transversal rushes, which are hazardous as they might cause falls.Fil: Garcimartín, A.. Universidad de Navarra; EspañaFil: Maza, D.. Universidad de Navarra; EspañaFil: Pastor, J. M.. Focke Meler Gluing Solutions S.A.; EspañaFil: Parisi, Daniel Ricardo. Instituto Tecnológico de Buenos Aires; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas; ArgentinaFil: Martín Gómez, C.. Universidad de Navarra; EspañaFil: Zuriguel, I.. Universidad de Navarra; Españ

Observaciones micro-morfológicas y anatómicas en núculas de Prunella L. y Cleonia L. (Lamiaceae) del suroeste de España

Observaciones micromorfológicas y anatómicas en núnulas de Prunella L. y Cleonia L. (Lamiaceae) del suroeste de España. Se han estudiado las núculas de tres especies del género Prunella y una del género Cleonia, tanto al microscopio óptico como al electrónico de barrido. Los taxones de ambos géneros se diferencian fácilmente tanto mediante caracteres morfológicos como el contorno o la ornamentación, como por caracteres anatómicos como la morfología de las células esclerenquimáticas del mesocarpo. La excreción del mucílago también contribuye a esta diferenciación. Otros caracteres como el color, la presencia o ausencia de glándulas, o algunas diferencias en el mesocarpo o endocarpo permiten diferenciar las tres especies examinadas del género Prunella. Por último, se discute brevemente la utilidad del mucílago, así como los sistemas de dispersión más frecuentes

Mechanical properties of tungsten alloys with Y2O3 and titanium additions

In this research the mechanical behaviour of pure tungsten (W) and its alloys (2 wt.% Ti–0.47 wt.% Y2O3 and 4 wt.% Ti–0.5 wt.% Y2O3) is compared. These tungsten alloys, have been obtained by powder metallurgy. The yield strength, fracture toughness and elastic modulus have been studied in the temperature interval of 25 °C to 1000 °C. The results have shown that the addition of Ti substantially improves the bending strength and toughness of W, but it also dramatically increases the DBTT. On the other hand, the addition of 0.5% Y2O3, is enough to improve noticeably the oxidation behaviour at the higher temperatures. The grain size, fractography and microstructure are studied in these materials. Titanium is a good grain growth inhibitor and effective precursor of liquid phase in HIP. The simultaneous presence of Y2O3 and Ti permits to obtain materials with low pores presenc

Transfer learning or design a custom CNN for tactile object recognition

International Workshop on Robotac: New Progress in Tactile Perception and Learning in RoboticsNovel tactile sensors allow treating pressure lectures as standard images due to its highresolution. Therefore, computer vision algorithms such as Convolutional Neural Networks (CNNs) can be used to identify objects in contact. In this work, a high-resolution tactile sensor has been attached to a robotic end-effector to identify objects in contact. Moreover, two CNNs-based approaches have been tested in an experiment of classification of pressure images. These methods include a transfer learning approach using a pre-trained CNN on an RGB images dataset and a custom-made CNN trained from scratch with tactile information. A comparative study of performance between them has been carried out.Universidad de Málaga. Campus de Excelencia Internacional Andalucía Tech. Spanish project DPI2015-65186-R, the European Commission under grant agreement BES-2016-078237, the educational project PIE-118 of the University of Malag

The Caterpillar Gallery: Quadric Surface Theorems, Parametric Design and Digital Fabrication

The use of certain quadratic surface theorems has mainly been associated in architecture with the design of classical vaults, domes and piping. The work presented by the authors is intended to explore the potential of these theorems to be used in the generation law for more complex shapes in contemporary architecture. The paper shows the case study of a built full-scale prototype, The Caterpillar gallery, a project stemming from the combination of geometric research and teaching innovation. Formal and structural experimentation take place in this project where, by starting from geometrical considerations, an efficient way of generating longitudinal spaces is proposed. One of the mentioned theorems applied to rotational cones provides the starting point for the generation of a set of concatenated surfaces that, once assembled, constitute a very stable self-supporting structure with a variety of possible applications

Mapping the visual landscape quality in Europe using physical attributes

he inclusion of environmental care data in the decision-making process should be based on the results obtained after scienti?cally evaluating different environmental variables. Herein, a European landscape geographic model is presented. This landscape map would allow the environmental care variable ?visual landscape?, along with other information related to vegetation, geology, soils, cultural variables, etc., to be integrated into the planning process. The methodology used is not new since it has already been tested in Spain by the authors. Nevertheless, the model was adapted to cope with the much more extensive territory of the European Union. This meant dealing with computational dif?culties, and a lack of information. The result of this work is a raster map (100 m cell size) that evaluates landscape quality in Europe by dividing the area into seven visual quality classes. This is a practical tool for territorial development that will facilitate the environmental assessment of plans, such as infrastructure plans, within a strategic pan-European framework

Effect of obstacle position in the flow of sheep through a narrow door

In a recent work Phys. Rev. E 91, 022808 (2015)PLEEE81539-375510.1103/PhysRevE.91.022808] it was reported that placing an obstacle in front of a gate has a beneficial effect in the flow of sheep through it. Here, we extend such results by implementing three different obstacle positions. We have observed that the flow is improved in two cases, while it worsens in the other one; the last instance happens when the obstacle is too close to the door. In this situation, the outcomes suggest that clogging develops between the doorjamb and the obstacle, contrary to the cases when the obstacle is farther, in which case clogging always occurs at the very door. The effectiveness of the obstacle (a strategy put forward to alleviate clogging in emergency exits) is therefore quite sensitive to its location. In addition, the study of the temporal evolution of the flow rate as the test develops makes evident a steady behavior during the entire duration of the entrance. This result is at odds with recent findings in human evacuation tests where the flow rate varies over time, therefore challenging the fairness of straightforward comparisons between pedestrian behavior and animal experimental observations

Upper-limb kinematic parameter estimation and localization using a compliant robotic manipulator.

Assistive and rehabilitation robotics have gained momentum over the past decade and are expected to progress significantly in the coming years. Although relevant and promising research advances have contributed to these fields, challenges regarding intentional physical contact with humans remain. Despite being a fundamental component of assistive and rehabilitation tasks, there is an evident lack of work related to robotic manipulators that intentionally manipulate human body parts. Moreover, existing solutions involving end-effector robots are not based on accurate knowledge of human limb dimensions and their current configuration. This knowledge, which is essential for safe human–limb manipulation, depends on the grasping location and human kinematic parameters. This paper addresses the upper-limb manipulation challenge and proposes a pose estimation method using a compliant robotic manipulator. To the best of our knowledge, this is the first attempt to address this challenge. A kinesthetic-based approach enables estimation of the kinematic parameters of the human arm without integrating external sensors. The estimation method relies only on proprioceptive data obtained from a collaborative robot with a Cartesian impedance-based controller to follow a compliant trajectory that depends on human arm kinodynamics. The human arm model is a 2-degree of freedom (DoF) kinematic chain. Thus, prior knowledge of the arm’s behavior and an estimation method enables estimation of the kinematic parameters. Two estimation methods are implemented and compared: i) Hough transform (HT); ii) least squares (LS). Furthermore, a resizable, sensorized dummy arm is designed for experimental validation of the proposed approach. Outcomes from six experiments with different arm lengths demonstrate the repeatability and effectiveness of the proposed methodology, which can be used in several rehabilitation robotic applications

Serial disparity in the carnivoran backbone unveil a complex adaptive role in metameric evolution.

Organisms comprise multiple interacting parts, but few quantitative studies have analysed multi-element systems, limiting understanding of phenotypic evolution. We investigate how disparity of vertebral morphology varies along the axial column of mammalian carnivores — a chain of 27 subunits — and the extent to which morphological variation have been structured by evolutionary constraints and locomotory adaptation. We find that lumbars and posterior thoracics exhibit high individual disparity but low serial differentiation. They are pervasively recruited into locomotory functions and exhibit relaxed evolutionary constraint. More anterior vertebrae also show signals of locomotory adaptation, but nevertheless have low individual disparity and constrained patterns of evolution, characterised by low-dimensional shape changes. Our findings demonstrate the importance of the thoracolumbar region as an innovation enabling evolutionary versatility of mammalian locomotion. Moreover, they underscore the complexity of phenotypic macroevolution of multi-element systems and that the strength of ecomorphological signal does not have a predictable influence on macroevolutionary outcome

Preservation of KCC2 expression in axotomized abducens motoneurons and its enhancement by VEGF

The potassium chloride cotransporter 2 (KCC2) is the main Cl− extruder in neurons. Any alteration in KCC2 levels leads to changes in Cl− homeostasis and, consequently, in the polarity and amplitude of inhibitory synaptic potentials mediated by GABA or glycine. Axotomy downregulates KCC2 in many different motoneurons and it is suspected that interruption of muscle-derived factors maintaining motoneuron KCC2 expression is in part responsible. In here, we demonstrate that KCC2 is expressed in all oculomotor nuclei of cat and rat, but while trochlear and oculomotor motoneurons downregulate KCC2 after axotomy, expression is unaltered in abducens motoneurons. Exogenous application of vascular endothelial growth factor (VEGF), a neurotrophic factor expressed in muscle, upregulated KCC2 in axotomized abducens motoneurons above control levels. In parallel, a physiological study using cats chronically implanted with electrodes for recording abducens motoneurons in awake animals, demonstrated that inhibitory inputs related to off-fixations and off-directed saccades in VEGF-treated axotomized abducens motoneurons were significantly higher than in control, but eye-related excitatory signals in the on direction were unchanged. This is the first report of lack of KCC2 regulation in a motoneuron type after injury, proposing a role for VEGF in KCC2 regulation and demonstrating the link between KCC2 and synaptic inhibition in awake, behaving animals.National Institutes of Health R01 NS111969, R21 NS114839Junta de Andalucía P20_00529Ministerio de Ciencia e Innovación PGC2018-094654-B-100, PID2021-124300NB-I0