ZMP Constraint Restriction for Robust Gait Generation in Humanoids

We present an extension of our previously proposed IS-MPC method for humanoid gait generation aimed at obtaining robust performance in the presence of disturbances. The considered disturbance signals vary in a range of known amplitude around a mid-range value that can change at each sampling time, but whose current value is assumed to be available. The method consists in modifying the stability constraint that is at the core of IS-MPC by incorporating the current mid-range disturbance, and performing an appropriate restriction of the ZMP constraint in the control horizon on the basis of the range amplitude of the disturbance. We derive explicit conditions for recursive feasibility and internal stability of the IS-MPC method with constraint modification. Finally, we illustrate its superior performance with respect to the nominal version by performing dynamic simulations on the NAO robot

A behavior-based framework for safe deployment of humanoid robots

We present a complete framework for the safe deployment of humanoid robots in environments containing humans. Proceeding from some general guidelines, we propose several safety behaviors, classified in three categories, i.e., override, temporary override, and proactive. Activation and deactivation of these behaviors is triggered by information coming from the robot sensors and is handled by a state machine. The implementation of our safety framework is discussed with respect to a reference control architecture. In particular, it is shown that an MPC-based gait generator is ideal for realizing all behaviors related to locomotion. Simulation and experimental results on the HRP-4 and NAO humanoids, respectively, are presented to confirm the effectiveness of the proposed method

Analysis of learning styles using a collective management instrument

El objetivo de este estudio fue identificar los estilos de aprendizaje que predominan entre estudiantes que cursan cuarto año dentro de la Facultad de Odontología de la Universidad Nacional de La Plata. El diseño de investigación correspondió a un diseño descriptivo. El universo de Análisis son estudiantes de Periodoncia “B” de los cursos I y II. Estos estudiantes cursaban unidades curriculares obligatorias en las cuales se imparten contenidos clínicos. La muestra utilizada fue intencional y estuvo conformada por 50 estudiantes Para la identificación de los estilos de aprendizaje fue utilizado el cuestionario ILS. El cuestionario ILS (Index of Learning Styles) se administra en forma colectiva y evalúa los estilos de aprendizaje. Se concluyó que existe entre los estudiantes una preponderancia de los perfiles de aprendizaje activo, sensorial, visual y secuencial; por sobre el reflexivo, el intuitivo, el verbal y el global para el cuestionario ILS. Se verificó que a los estudiantes les resulta más difícil el aprendizaje de contenidos abstractos y conceptuales. En este sentido, se sugiere que los docentes en la enseñanza de la clínica propongan estrategias y dispositivos que favorezcan el desarrollo del pensamiento verbal y conceptual.The objective of this study was to identify the learning styles that predominate among students who are in their fourth year at the Faculty of Dentistry of the National University of La Plata. The research design corresponded to a descriptive design. The universe of Analysis Are Periodontics “B” students from courses I and II. These students were taking compulsory curricular units in which clinical content is taught. The sample used was intentional and was made up of 50 students. For the identification of learning styles, the ILS questionnaire was used. The ILS (Index of Learning Styles) questionnaire is administered collectively and assesses learning styles. It was concluded that there is a preponderance of active, sensory, visual and sequential learning profiles among students; over the reflexive, the intuitive, the verbal and the global for the ILS questionnaire. It was verified that students find it more difficult to learn abstract and conceptual content. In this sense, it is suggested that teachers in clinical teaching propose strategies and devices that favor the development of verbal and conceptual thinking.Facultad de Odontologí

Analysis of learning styles using a collective management instrument

El objetivo de este estudio fue identificar los estilos de aprendizaje que predominan entre estudiantes que cursan cuarto año dentro de la Facultad de Odontología de la Universidad Nacional de La Plata. El diseño de investigación correspondió a un diseño descriptivo. El universo de Análisis son estudiantes de Periodoncia “B” de los cursos I y II. Estos estudiantes cursaban unidades curriculares obligatorias en las cuales se imparten contenidos clínicos. La muestra utilizada fue intencional y estuvo conformada por 50 estudiantes Para la identificación de los estilos de aprendizaje fue utilizado el cuestionario ILS. El cuestionario ILS (Index of Learning Styles) se administra en forma colectiva y evalúa los estilos de aprendizaje. Se concluyó que existe entre los estudiantes una preponderancia de los perfiles de aprendizaje activo, sensorial, visual y secuencial; por sobre el reflexivo, el intuitivo, el verbal y el global para el cuestionario ILS. Se verificó que a los estudiantes les resulta más difícil el aprendizaje de contenidos abstractos y conceptuales. En este sentido, se sugiere que los docentes en la enseñanza de la clínica propongan estrategias y dispositivos que favorezcan el desarrollo del pensamiento verbal y conceptual.The objective of this study was to identify the learning styles that predominate among students who are in their fourth year at the Faculty of Dentistry of the National University of La Plata. The research design corresponded to a descriptive design. The universe of Analysis Are Periodontics “B” students from courses I and II. These students were taking compulsory curricular units in which clinical content is taught. The sample used was intentional and was made up of 50 students. For the identification of learning styles, the ILS questionnaire was used. The ILS (Index of Learning Styles) questionnaire is administered collectively and assesses learning styles. It was concluded that there is a preponderance of active, sensory, visual and sequential learning profiles among students; over the reflexive, the intuitive, the verbal and the global for the ILS questionnaire. It was verified that students find it more difficult to learn abstract and conceptual content. In this sense, it is suggested that teachers in clinical teaching propose strategies and devices that favor the development of verbal and conceptual thinking.Facultad de Odontologí

Gait Generation using Intrinsically Stable MPC in the Presence of Persistent Disturbances

From a control point of view, humanoid gait generation can be seen as a problem of tracking a suitable ZMP trajectory while guaranteeing internal stability. In the presence of disturbances, both these aspects are at risk, and a fall may ultimately occur. In this paper, we extend our previously proposed Intrinsically Stable MPC (IS-MPC) method, which guarantees stable tracking for the unperturbed case, to the case of persistent disturbances. This is achieved by designing a disturbance observer whose estimate is used to set up a modified stability constraint for the QP problem. The method is validated by MATLAB tests as well as dynamic simulations for a NAO humanoid in DART

‘Penny-wise…’: Ezra Pound’s Posthumous Legacy to Fascism

The article traces the history of Ezra Pound’s engagement with Fascist politics and its contemporary influence on the far-right in America, Britain and Italy.  It seeks to explore a political legacy of Pound’s, which is sometimes strangely at odds with his poetic legacy but on other occasions, informs and coalesces into the latter.   Keywords: Ezra Pound; Modernism; Fascism

Do soil carbon sequestration and soil fertility increase by including a gramineous cover crop in continuous soybean?

Cover cropping is a farming practice that may improve C sequestration and soil fertility, but these effects can vary under different edaphoclimatic conditions. The effects of including a winter gramineous cover crop (CC) in continuous soybeans were evaluated in three long-term experiments (8 yr) on one coarse-textured soil and two finetextured soils in the Pampas region of Argentina. The impacts of CC on soil C sequestration, soil nutrient availability, soil organic C (SOC), and N contents of soil particle size fractions were also determined. The inclusion of CC only increased SOC stock by 3.1 Mg ha-1 in the coarse-textured soil (CTS). The labile C fraction in the 0–5-cm depth increased in both the CTS and the fine-textured soils (FTS) by 263% and 93%, respectively. Soil N also increased in the labile fraction by 119% and 112% when a CC was used in the CTS and FTS soils, respectively. Moreover, the inclusion of a CC decreased soil P availability in one experiment (4.9 kg ha-1) and increased soil manganese in two experiments (11 kg ha-1 on average). The inclusion of a gramineous CC in a soybean monoculture increased the C balance, particularly in coarse-textured soils. Considering that soil N was similarly affected, the C/N ratio was not impacted.Fil: Beltran, Marcelo Javier. Instituto Nacional de Tecnología Agropecuaria (INTA). Instituto de Suelos; ArgentinaFil: Galantini, Juan Alberto. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - Bahía Blanca. Centro de Recursos Naturales Renovables de la Zona Semiárida. Universidad Nacional del Sur. Centro de Recursos Naturales Renovables de la Zona Semiárida; Argentina. Provincia de Buenos Aires. Gobernación. Comisión de Investigaciones Científicas; ArgentinaFil: Salvagiotti, Fernando. Instituto Nacional de Tecnología Agropecuaria (INTA). Estación Experimental Agropecuaria Oliveros; ArgentinaFil: Tognetti, Pedro M. Universidad de Buenos Aires. Facultad de Agronomía. IFEVA; Argentina.Fil: Bacigaluppo, Silvina. Instituto Nacional de Tecnología Agropecuaria (INTA). Estación Experimental Agropecuaria Oliveros; ArgentinaFil: Sainz Rozas, Hernan Rene. Instituto Nacional de Tecnología Agropecuaria (INTA). Estación Experimental Agropecuaria Balcarce; ArgentinaFil: Barroco, Mirian. Instituto Nacional de Tecnología Agropecuaria (INTA). Estación Experimental Agropecuaria General Villegas; Argentina.Fil: Barbieri, Pablo Andres. Instituto Nacional de Tecnología Agropecuaria (INTA). Estación Experimental Agropecuaria Balcarce. Unidad Integrada. Universidad Nacional de Mar del Plata. Facultad de Ciencias Agrarias; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentin