Control architecture of the ATLAS 2020 lower-limb active orthosis

This paper outlines the control details implemented in the wearable gait exoskeleton ATLAS 2020 for improving the therapy of SMA children. This paper discusses the control challenges of a gait-training wearable exoskeleton for SMA children. Such device would also increase these children's quality of life, achieving a reduction of disability and increased functional independence.Peer reviewe

Expression Profiles and DNA-Binding Affinity of Five ERF Genes in Bunches of Vitis vinifera cv. Cardinal Treated with High Levels of CO2 at Low Temperature

Ethylene response factors (ERFs) play an important role in plants by regulating defense response through interaction with various stress pathways. After harvest, table grapes (Vitis vinifera L.) are subject to a range of problems associated with postharvest storage at 0°C, such as fungal attack, water loss and rachis browning. The application of a 3-day high CO2 treatment maintained fruit quality and activated the induction of transcription factors belonging to different families such as ERF. In this paper, we have isolated five VviERFs from table grapes cv. Cardinal, whose deduced amino acid sequence contained the conserved apetalous (AP2)/ERF domain. The phylogeny and putative conserved motifs in VviERFs were analyzed and compared with those previously reported in Vitis. VviERFs-c gene expression was studied by quantitative real-time RT-PCR in the different tissues of bunches stored at low temperature and treated with high levels of CO2. The results showed that in most of the tissues analyzed, VviERFs-c gene expression was induced by the storage under normal atmosphere although the application of high levels of CO2 caused a greater increase in the VviERFs-c transcript accumulation. The promoter regions of two PRs (pathogenesis related proteins), Vcchit1b and Vcgns1, were obtained and the in silico analysis revealed the presence of a cis-acting ethylene response element (GCC box). In addition, expression of these two PR genes was analyzed in the pulp and rachis of CO2-treated and non-treated table grapes stored at 0°C and results showed significant correlations with VviERF2-c and VviERF6L7-c gene expression in rachis, and between VviERF11-c and Vcchit1b in pulp. Finally by using electro mobility shift assays, we denoted differences in binding of VviERFs to the GCC sequences present in the promoters of both PRs, with VviERF6L7-c being the only member which did not bind to any tested probe. Overall, our results suggest that the beneficial effect of high CO2 treatment maintaining table grape quality seems to be mediated by the regulation of ERFs and in particular VviERF2-c might play an important role by modulating the expression of PR genes.This work was supported by the European Union under the 7th Framework Programme FP7-PEOPLE-2012-CIG no. 321694 and by CICYT projects AGL2011-26742 and AGL2014-53081-R. IR and MV-H were supported by a postdoctoral Juan de la Cierva contract from the MICINN and a predoctoral contract from the MEC, respectively.USD 2,116.5 APC fee funded by the EC FP7 Post-Grant Open Access PilotPeer reviewe

Two-phase piecewise homogeneous plane deformations of a fibre-reinforced neo-Hookean material with application to fibre kinking and splitting

Two-phase piecewise homogeneous plane deformations are examined in respect of a neo-Hookean matrix material reinforced with embedded aligned fibres characterized by a single stiffness parameter. The deformations are interpreted in terms of fibre kinking and fibre splitting. Previous work has shown that such a transversely isotropic material can lose ellipticity if the reinforcing stiffness is sufficiently large and the fibre direction is sufficiently compressed. In particular, it was shown that the associated failure modes are characterised by the emergence of weak surfaces of discontinuity that are normal to the fibre direction (the onset of fibre kinking) or parallel to the fibre direction (the onset of fibre splitting). Here, the analysis of strong surfaces of discontinuity, developing from weak ones, is studied. The considered model can give rise to piecewise smooth plane deformations separated by a plane stationary surface of discontinuity, interpreted as either kinking or splitting. Attention is restricted to (plane) deformations in which, on one side of the surface of discontinuity, the load axis is aligned with the fibre axis. Then the fibre stretch on this side of the discontinuity is a natural load parameter. The ellipticity status of the two-phase piecewise homogeneous plane deformations is shown to span all four possible ellipticity/non-ellipticity permutations. If both deformation states are elliptic, then a suitable intermediate deformation is shown to be non-elliptic. Moreover, it is shown that the mechanism is dissipative, and maximally dissipative quasi-static failure motion is examined in respect of both kinking and splitting. It follows that, firstly, surfaces of discontinuity perpendicular to the fibre direction, associated with fibre kinking, are nucleated followed by surfaces of discontinuity parallel to the fibre direction, associated with fibre splitting. With respect to kinking, such maximally dissipative kinks nucleate only in compression as weak surfaces of discontinuity, with the subsequent motion converting non-elliptic deformation to elliptic deformation

Kinematic and kinetic study of sit-to-stand and stand-to-sit movements towards a human-like skeletal model

The movements of sit-to-stand and stand-to-sit are frequently executed on daily life. To develop robotic assistive devices for people with mobility problems, it is important to study how a healthy human performs these tasks. The goal of this study is to present a mathematical model based on acquired kinematic and kinetic data that represents a healthy human body performing these movements. The results revealed that the movements of sit-to-stand and stand-to-sit have symmetric ground reaction force, joint angles and torques. The joint angles and the torques are very similar between each leg. The knee and the hip show more variation of the angle and achieve higher values of torque in comparison to the ankle. Although, ankle has higher torque during standing position. The ground reaction force shows that it is necessary to create an additional force to the weight force to achieve the final position of the movement. The acquired data describe as expected the sit-to-stand and stand-to-sit movements and can be used, in the future, to validate the presented model.This work has been supported in part by the Fundacao para a Ciencia e Tecnologia (FCT) with the Reference Scholarship under Grant SFRH/BD/108309/2015, and part by the FEDER Funds through the Programa Operacional Regional do Norte and national funds from FCT with the project SmartOs -Controlo Inteligente de um Sistema Ortotico Ativo e Autonomo-under Grant NORTE-01-0145-FEDER-030386, and by the FEDER Funds through the COMPETE 2020-Programa Operacional Competitividade e Internacionalizacao (POCI)-with the Reference Project under Grant POCI-01-0145-FEDER-006941

Feedback-error learning for gait rehabilitation using a powered knee orthosis: first advances

Powered assistive devices have been playing a major role in gait rehabilitation. Hereby, the development of time-effective control strategies to manage such devices is a key concern to rehabilitation engineering. This paper presents a real-time Feedback-Error Learning control strategy, by means of an Artificial Neural Network as a feedforward controller to acquire the inverse model of the plant, and a Proportional-Integral-Derivative feedback controller to guarantee stability and handle with disturbances. A Powered Knee Orthosis was used as the assistive device and a trajectory generator assistive strategy, previously acquired through an inertial system, was applied. A validation with one subject walking in a treadmill at 1 km/h with the Powered Knee Orthosis controlled by the Feedback-Error Learning control was performed. Evidences on the control behavior presented good performances, with the Artificial Neural Network taking 90 seconds to learn the inverse model, which enabled a decrease in the angular position error by 75% and eliminated the phase delay, when compared to solo Proportional-Integral-Derivative feedback controller. Robust reactions to external disturbances were also achieved. The implemented Feedback-Error Learning strategy proves to be a time-effective asset to control assistive powered devices.This work has been supported in part by the Fundacao para a Ciencia e Tecnologia (FCT) with the Reference Scholarship under Grant SFRH/BD/108309/2015, and part by the FEDER Funds through the Programa Operacional Regional do Norte and national funds from FCT with the project SmartOs -Controlo Inteligente de um Sistema Ortotico Ativo e Autonomo-under Grant NORTE-01-0145-FEDER-030386, and by the FEDER Funds through the COMPETE 2020-Programa Operacional Competitividade e Internacionalizacao (POCI)-with the Reference Project under Grant POCI-01-0145-FEDER-006941 and supported by grant RYC-2014-16613 by Spanish Ministry of Economy and Competitiveness

On the constitution of polar fiber-reinforced materials

This article presents important constitutive refinements and simplifications in the theory of polar elasticity of materials reinforced by a single family of fibres resistant in bending. One of these simplifications is achieved by paying attention to forms of the strain energy which are symmetric with respect to the symmetric and the antisymmetric parts of the fibre gradient tensor. This leads to the identification of a restricted version of the theory that is predominantly influenced by the fibre-splay mode of deformation. The lack of ellipticity of the governing equations of polar elasticity and the anticipation of existence of weak discontinuity surfaces even in the small deformation regime are also investigated. The manner in which potential activation of such surfaces is related with the action of either the fibre-bending or the fibre-splay deformation mode, as well as with their conjoined combination and coupling with their fibre-twist counterpart, is examined. The proposed constitutive equations can be simplified via the use of a new set of fourteen independent spectral invariants of the deformation. This set serves as an irreducible functional basis of relevant invariants or as an irreducible integrity basis of polynomial invariants. For instance, its use here enables identification of fourteen classical invariants that emerge as mutually independent from the known set of thirty-three in total classical invariants. In the special case of polynomial invariants, this result paves the way for identification of a corresponding minimal integrity basis

Libro blanco de diseño para todos en la universidad

Conscientes de que el logro de espacios accesibles para todas las personas depende, en buena medida, de que los profesionales relacionados con la construcción de los entornos físicos y virtuales cuenten con la formación necesaria para diseñar proyectos no excluyentes, el IMSERSO, la Fundación ONCE y la Coordinadora del Diseño para Todas las Personas, han elaborado un ambicioso proyecto formativo dirigido a los futuros estudiantes universitarios. Entre los objetivos de esta práctica herramienta están, por un lado, concienciar a los estudiantes universitarios de la necesidad de crear entornos respetuosos con la diversidad humana, incluyendo entre éstos al universitario, pero también dotar a quienes serán, futuros y futuras profesionales, de una herramienta que les permita abordar satisfactoriamente la accesibilidad dentro de sus proyectos. Para tal fin, este Libro Blanco incorpora diversos ejemplos de currículum orientado a las licenciaturas de arquitectura, ingeniería informática y psicología. En objetivo último es que en el futuro el concepto de Diseño para Todos forme parte de todos los proyectos relacionados con la actividad humana, dando así cumplimiento a la Resolución del Consejo de Europa sobre esta materia

Dating historical droughts from religious ceremonies, the international pro pluvia rogation database

Climate proxy data are required for improved understanding of climate variability and change in the pre-instrumental period. We present the first international initiative to compile and share information on pro pluvia rogation ceremonies, which is a well-studied proxy of agricultural drought. Currently, the database has more than 3500 dates of celebration of rogation ceremonies, providing information for 153 locations across 11 countries spanning the period from 1333 to 1949. This product provides data for better understanding of the pre-instrumental drought variability, validating natural proxies and model simulations, and multi-proxy rainfall reconstructions, amongst other climatic exercises. The database is freely available and can be easily accessed and visualized via http://inpro.unizar.es/.info:eu-repo/semantics/publishedVersio

A unified approach for a posteriori high-order curved mesh generation using solid mechanics

The paper presents a unified approach for the a posteriori generation of arbitrary high-order curvilinear meshes via a solid mechanics analogy. The approach encompasses a variety of methodologies, ranging from the popular incremental linear elastic approach to very sophisticated non-linear elasticity. In addition, an intermediate consistent incrementally linearised approach is also presented and applied for the first time in this context. Utilising a consistent derivation from energy principles, a theoretical comparison of the various approaches is presented which enables a detailed discussion regarding the material characterisation (calibration) employed for the different solid mechanics formulations. Five independent quality measures are proposed and their relations with existing quality indicators, used in the context of a posteriori mesh generation, are discussed. Finally, a comprehensive range of numerical examples, both in two and three dimensions, including challenging geometries of interest to the solids, fluids and electromagnetics communities, are shown in order to illustrate and thoroughly compare the performance of the different methodologies. This comparison considers the influence of material parameters and number of load increments on the quality of the generated high-order mesh, overall computational cost and, crucially, the approximation properties of the resulting mesh when considering an isoparametric finite element formulation