Pattern Generation for Walking on Slippery Terrains

In this paper, we extend state of the art Model Predictive Control (MPC) approaches to generate safe bipedal walking on slippery surfaces. In this setting, we formulate walking as a trade off between realizing a desired walking velocity and preserving robust foot-ground contact. Exploiting this formulation inside MPC, we show that safe walking on various flat terrains can be achieved by compromising three main attributes, i. e. walking velocity tracking, the Zero Moment Point (ZMP) modulation, and the Required Coefficient of Friction (RCoF) regulation. Simulation results show that increasing the walking velocity increases the possibility of slippage, while reducing the slippage possibility conflicts with reducing the tip-over possibility of the contact and vice versa.Comment: 6 pages, 7 figure

The structure of gravel-bed flow with intermediate submergence: a laboratory study

The paper reports an experimental study of the flow structure over an immobile gravel bed in open channel at intermediate submergence, with particular focus on the near-bed region. The experiments consisted of velocity measurements using three-component (stereoscopic) Particle Image Velocimetry (PIV) in near-bed horizontal plane and two-component PIV in three vertical planes that covered three distinctly different hydraulic scenarios where the ratio of flow depth to roughness height (i.e., relative submergence) changes from 7.5 to 10.8. Detailed velocity measurements were supplemented with fine-scale bed elevation data obtained with a laser scanner. The data revealed longitudinal low-momentum and high-momentum "strips'' in the time-averaged velocity field, likely induced by secondary currents. This depth-scale pattern was superimposed with particle-scale patches of flow heterogeneity induced by gravel particle protrusions. A similar picture emerged when considering second-order velocity moments. The interaction between the flow field and gravel-bed protrusions is assessed using cross correlations of velocity components and bed elevations in a horizontal plane just above gravel particle crests. The cross correlations suggest that upward and downward fluid motions are mainly associated with upstream-facing and lee sides of particles, respectively. Results also show that the relative submergence affects the turbulence intensity profiles for vertical velocity over the whole flow depth, while only a weak effect, limited to the near-bed region, is noticed for streamwise velocity component. The approximation of mean velocity profiles with a logarithmic formula reveals that log-profile parameters depend on relative submergence, highlighting inapplicability of a conventional "universal'' logarithmic law for gravel-bed flows with intermediate submergence

Flow boiling heat transfer capabilities of R134a low GWP substitutes inside a 4\ua0mm id horizontal smooth tube: R600a and R152a

R134a was recognized as probably one of the most important refrigerants of the two past decades. Among the proposed alternative fluids, there are certainly isobutane (R600a) and R152a.\ua0This article presents about 200 new heat transfer coefficient and pressure drop data obtained during flow boiling of R152a and R600a inside a smooth copper tube having an internal diameter of 4\ua0mm.\ua0Three saturation temperatures were considered for each refrigerant, from 5\ua0\ub0C to 20\ua0\ub0C. Furthermore, for each temperature studied, the heat flux was varied between 15 and 30\ua0kW\ua0m 122 and the refrigerant mass flux from 100 to 400\ua0kg\ua0m 122\ua0s 121. After presenting the new data, a critical comparison was proposed between the performance of these refrigerants and R134a. Finally, some classic correlations available in the literature have been implemented. The deviations between the calculated and experimental values were reported and commented

Mass Spectrometry Imaging Disclosed Spatial Distribution of Defense-Related Metabolites in Triticum spp

Fusarium Head Blight is the most common fungal disease that strongly affects Triticum spp., reducing crop yield and leading to the accumulation of toxic metabolites. Several studies have investigated the plant metabolic response to counteract mycotoxins accumulation. However, information on the precise location where the defense mechanism is taking place is scarce. Therefore, this study aimed to investigate the specific tissue distribution of defense metabolites in two Triticum species and use this information to postulate on the metabolites’ functional role, unlocking the “location-to-function” paradigm. To address this challenge, transversal cross-sections were obtained from the middle of the grains. They were analyzed using an atmospheric-pressure (AP) SMALDI MSI source (AP-SMALDI5 AF, TransMIT GmbH, Giessen, Germany) coupled to a Q Exactive HF (Thermo Fisher Scientific GmbH, Bremen, Germany) orbital trapping mass spectrometer. Our result revealed the capability of (AP)-SMALDI MSI instrumentation to finely investigate the spatial distribution of wheat defense metabolites, such as hydroxycinnamic acid amides, oxylipins, linoleic and α-linoleic acids, galactolipids, and glycerolipids

Cardioprotection by cocoa polyphenols and ω-3 fatty acids: A disease-prevention perspective on aging-associated cardiovascular risk

Cardiovascular disease (CVD) remains the leading cause of death today. Many of the biochemical alterations associated with the pathophysiology of CVD can be modified by adequate intakes of bioactive nutrients through a correct diet or supplementation. Recently, there has been growing public and clinical interest in cocoa polyphenols (CPs) and omega-3 (ω-3) fatty acids. A plethora of nutritional intervention trials and experimental studies demonstrates that consumption of these bioactive food compounds is beneficial to promote cardiovascular health. The purpose of this review is to summarize the major cardioprotective effects of CPs and ω-3 fatty acids, providing a scientific rationale for incorporating the combination of these molecules as a nutritional intervention in the prevention of CVD. Although several studies have shown the individual cardioprotective nature of these compounds, a combination treatment with CPs and ω-3 fatty acids may be a promising approach to enhance the preventive value of these molecules and reduce cardiovascular risk factors associated with aging. Therefore, this article also reviews some of the key studies on the interaction between CPs and the metabolism of ω-3 fatty acids

A Bayesian approach for the assessment of shallow and deep aquifers susceptibility to point sources contamination in the Province of Milan, Italy

In densely populated areas, urban and industrial activities are responsible for groundwater quality deterioration due to point sources contamination (Kuroda and Fukushi, 2008). In the Province of Milan (Northern Italy), the available water-quality data indicate the occurrence of high PCE+TCE and chromium concentrations in the unconfined shallow as well as in the confined deep aquifers. To cope with this problem, statistical methods can represent reliable tools to provide key information for groundwater management and protection

A Bayesian approach for the assessment of shallow and deep aquifers susceptibility to point sources contamination in the Province of Milan, Italy

In densely populated areas, urban and industrial activities are responsible for groundwater quality deterioration due to point sources contamination (Kuroda and Fukushi, 2008). In the Province of Milan (Northern Italy), the available water-quality data indicate the occurrence of high PCE+TCE and chromium concentrations in the unconfined shallow as well as in the confined deep aquifers. To cope with this problem, statistical methods can represent reliable tools to provide key information for groundwater management and protection