112 research outputs found

    Control in the operational space of bilateral teleoperators with time-delays and without velocity measurements¿

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    This paper proposes a control scheme in the operational space for bilateral teleoperation systems composed of heterogeneous robots (kinematically and dynamically different) without velocity sensors and considering variable time-delays in the interconnection. The proposed control scheme use a second order dynamical controller that back-propagates damping to the local and the remote manipulators. Under the assumptions that the human operator and the environment define passive maps from force to velocity, it is proved that velocities and pose (position and orientation) errors between the local and the remote manipulators are bounded. Moreover, in the case that the human and the environment forces are zero, the velocities and pose errors converge asymptotically to zero. The proposed approach employs, the singularity-free, unit-quaternions to represent the orientation of the end-effectors. The performance of the proposed controller is illustrated via simulations with a teleoperation system composed of robots with 3-DoF and 7-DoF.Peer ReviewedPostprint (published version

    Protocolo de germinación de Silene sedoides Poir., y cultivo de planta adulta (CARYOPHYLLACEAE).

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    Las plantas de pequeño tamaño y localizada distribución pasan desapercibidas a la hora de su manejo y observación, pese a su interés en cuanto a la conservación de la biodiversidad e investigación. Las posibilidades que pueden ofrecer en un futuro, y que están por conocer, nos lleva al estudio y difusión de dichas especies.Este trabajo se ha cofinanciado por la Generalitat Valenciana (Consellería de Agricultura, Desarrollo Rural, Emergencia Climática y Transición Ecológica) y la Universitat de València. Además, ha contado con el soporte del acuerdo de prácticas nº 146477, suscrito en el marco del convenio entre la Universitat de València, la fundación Universidad Empresa, ADEIT y el Jardí Botànic de 24 de septiembre de 202

    Sprouted Barley Flour as a Nutritious and Functional Ingredient

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    peer-reviewedThe increasing demand for healthy food products has promoted the use of germinated seeds to produce functional flours. In this study, germination conditions were optimized in barley grains with the aim to produce flours with high nutritional and biofunctional potential using response surface methodology (RSM). The impact of germination time (0.8–6 days) and temperature (12–20 °C) on barley quality was studied. Non-germinated barley was used as the control. The content of vitamins B1, B2 and C, and proteins increased notably after germination, especially at longer times, while levels of fat, carbohydrates, fibre, and β-glucan were reduced. Total phenolic compounds, γ-aminobutyric acid and antioxidant activity determined by Oxygen Radical Absorbance Capacity increased between 2-fold and 4-fold during sprouting, depending on germination conditions and this increase was more pronounced at higher temperatures (16–20 °C) and longer times (5–6 days). Procyanidin B and ferulic acid were the main phenolics in the soluble and insoluble fraction, respectively. Procyanidin B levels decreased while bound ferulic acid content increased during germination. Germinated barley flours exhibited lower brightness and a higher glycemic index than the control ones. This study shows that germination at 16 °C for 3.5 days was the optimum process to obtain nutritious and functional barley flours. Under these conditions, sprouts retained 87% of the initial β-glucan content, and exhibited levels of ascorbic acid, riboflavin, phenolic compounds and GABA between 1.4-fold and 2.5-fold higher than the non-sprouted grain

    Mediterranean plant germination reports – 5

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    This is the fifth issue of the series of germination reports from Mediterranean areas (sensu Med-Checklist). It comprises germination protocols for 18 taxa: Hieracium and Pilosella from South Italy by Di Gristina & al. (Nos. 103-106); Genista from Sardinia by Deplano & al. (No. 107); Antirrhinum, Anthyllis, Digitalis, Echium, Jasione, Nothoscordum, Silene and Verbascum by Martínez-Oliver & al. (Nos. 108-116); Dianthus, Helichrysum and Silene from Sicily by Scafidi & Salmeri (Nos. 117-120)

    Origins and genetic legacy of prehistoric dogs

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    Dogs were the first domestic animal, but little is known about their population history and to what extent it was linked to humans. We sequenced 27 ancient dog genomes and found that all dogs share a common ancestry distinct from present-day wolves, with limited gene flow from wolves since domestication but substantial dog-to-wolf gene flow. By 11,000 years ago, at least five major ancestry lineages had diversified, demonstrating a deep genetic history of dogs during the Paleolithic. Coanalysis with human genomes reveals aspects of dog population history that mirror humans, including Levant-related ancestry in Africa and early agricultural Europe. Other aspects differ, including the impacts of steppe pastoralist expansions in West and East Eurasia and a near-complete turnover of Neolithic European dog ancestry

    Nutritional, Health, and Technological Functionality of Lupin Flour Addition to Bread and Other Baked Products: Benefits and Challenges

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    Lupin is an undervalued legume despite its high protein and dietary fiber content and potential health benefits. This review focuses on the nutritional value, health benefits, and technological effects of incorporating lupin flour into wheat-based bread. Results of clinical studies suggest that consuming lupin compared to wheat bread and other baked products reduce chronic disease risk markers; possibly due to increased protein and dietary fiber and bioactive compounds. However, lupin protein allergy has also been recorded. Bread quality has been improved when 10% lupin flour is substituted for refined wheat flour; possibly due to lupin-wheat protein cross-linking assisting bread volume and the high water-binding capacity (WBC) of lupin fiber delaying staling. Above 10% substitution appears to reduce bread quality due to lupin proteins low elasticity and the high WBC of its dietary fiber interrupting gluten network development. Gaps in understanding of the role of lupin flour in bread quality include the optimal formulation and processing conditions to maximize lupin incorporation, role of protein cross-linking, antistaling functionality, and bioactivity of its γ-conglutin protein

    Origins and genetic legacy of prehistoric dogs

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    Dogs were the first domestic animal, but little is known about their population history and to what extent it was linked to humans. We sequenced 27 ancient dog genomes and found that all dogs share a common ancestry distinct from present-day wolves, with limited gene flow from wolves since domestication but substantial dog-to-wolf gene flow. By 11,000 years ago, at least five major ancestry lineages had diversified, demonstrating a deep genetic history of dogs during the Paleolithic. Coanalysis with human genomes reveals aspects of dog population history that mirror humans, including Levant-related ancestry in Africa and early agricultural Europe. Other aspects differ, including the impacts of steppe pastoralist expansions in West and East Eurasia and a near-complete turnover of Neolithic European dog ancestry
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