Path and trajectory planning of a tethered UAV-UGV marsupial robotics system

This paper addresses the problem of trajectory planning in a marsupial robotic system consisting of an unmanned aerial vehicle (UAV) linked to an unmanned ground vehicle (UGV) through a non-taut tether that has a controllable length. The objective is to determine a synchronized collision-free trajectory for the three marsupial system agents: UAV, UGV, and tether. First, we present a path planning solution based on optimal Rapidly exploring Random Trees (RRT*) that takes into account constraints related to the positions of UAV, UGV, tether and the 3D environment. The specialization of the main RRT* methods allows us to obtain feasible solutions in short times. Then, the paper presents a trajectory planner based on non-linear least squares. The optimizer takes into account aspects not considered in the path planning, like temporal constraints of the motion that impose limits on the velocities and accelerations of the robots. Results from simulated scenarios demonstrate that the approach is able to generate obstacle-free and smooth trajectories for the UAV, UGV, and tether.Comment: 8 pages, 4 figures, 2 table

Influence of Al2O3 reinforcement on precipitation kinetic of Cu-Cr nanocomposite

In this paper, the kinetic of precipitation process in mechanically alloyed Cu-1 wt.% Cr and Cu-1 wt.% Cr/3 wt.% Al2O3 solid solution was compared using differential scanning calorimetry (DSC), X-ray diffraction (XRD) and transmission electron microscopy (TEM). The ageing kinetics in Cu¿Cr and Cu¿Cr/Al2O3 can be described using Johnson¿Mehl¿Avrami (JMA) and Sestak¿Berggren (SB) models, respectively. These different behaviors have been discussed in details. It was found that in presence of Al2O3 reinforcement, the ageing activation energy is decreased and the overall ageing process is accelerated. This behavior is probably due to higher dislocation density previously obtained during ball milling and Al2O3¿Cu interface. TEM observations confirm that Al2O3¿Cu interface and structural defects act as a primary and secondary nucleation sites, respectively.Gobierno de España ENE 2007-67926-C02-0

Preparation of nanostructured nickel aluminate spinel powder from spent NiO/Al2O3 catalyst by mechano-chemical synthesis

In this paper, the possibility of mechano-chemical synthesis, as a single step process for preparation of nanostructured nickel aluminate spinel powder from NiO/Al2O3 spent catalyst was investigated. Powder samples were characterized in terms of composition, morphology, structure, particle size and surface area using complementary techniques such as X-ray diffraction (XRD), scanning electron microscopy (SEM), transmission electron microscopy (TEM), differential thermal analysis (DTA) and volumetric adsorption of nitrogen. It was found that formation of spinel was possible after 60 h of milling with no heat treatment. Additionally, influence of mechanical activation on the heat treatment temperature was discussed. It was observed that heat treatment of 15 h milled sample at 1100 °C is enough to produce nickel aluminate spinel. A product of direct mechanical milling showed higher value of surface area (42.3 m2/g) and smaller crystallite size (12 nm) as compared to the heat treated product.Gobierno de España ENE 2007-67926-C02-0

Mexican Trypanosoma cruzi T. cruzi I Strains with Different Degrees of Virulence Induce Diverse Humoral and Cellular Immune Responses in a Murine Experimental Infection Model

It is has been shown that the majority of T. cruzi strains isolated from Mexico belong to the T. cruzi I (TCI). The immune response produced in response to Mexican T. cruzi I strains has not been well characterized. In this study, two Mexican T. cruzi I strains were used to infect Balb/c mice. The Queretaro (TBAR/MX/0000/Queretaro)(Qro) strain resulted in 100% mortality. In contrast, no mortality was observed in mice infected with the Ninoa (MHOM/MX/1994/Ninoa) strain. Both strains produced extended lymphocyte infiltrates in cardiac tissue. Ninoa infection induced a diverse humoral response with a higher variety of immunoglobulin isotypes than were found in Qro-infected mice. Also, a stronger inflammatory TH1 response, represented by IL-12p40, IFNγ, RANTES, MIG, MIP-1β, and MCP-1 production was observed in Qro-infected mice when compared with Ninoa-infected mice. We propose that an exacerbated TH1 immune response is a likely cause of pathological damage observed in cardiac tissue and the primary cause of death in Qro-infected mice

Tiña Negra. Reporte del primer caso en Paraguay

La tiña negra es una micosis superficial causada por la Hortaea werneckiique afecta la capacórnea de palma de manos, rara vez de planta de pies y otros sitios. La distribución es universal,pero es rara; y en el Paraguay no existen comunicaciones previas. En este trabajo se presenta elcaso de un varón de 16 años con mácula pigmentada en palma de mano derecha cuyo estudiomicológico confirmó el diagnóstico clínico

Theoretical analysis of the focusing of acoustic waves by two-dimensional sonic crystals

Motivated by a recent experiment on acoustic lenses, we perform numerical calculations based on a multiple scattering technique to investigate the focusing of acoustic waves with sonic crystals formed by rigid cylinders in air. The focusing effects for crystals of various shapes are examined. The dependance of the focusing length on the filling factor is also studied. It is observed that both the shape and filling factor play a crucial role in controlling the focusing. Furthermore, the robustness of the focusing against disorders is studied. The results show that the sensitivity of the focusing behavior depends on the strength of positional disorders. The theoretical results compare favorably with the experimental observations, reported by Cervera, et al. (Phys. Rev. Lett. 88, 023902 (2002)).Comment: 8 figure

Study of Melamine-Formaldehyde/Phase Change Material Microcapsules for the Preparation of Polymer Films by Extrusion

n-Eicosane-melamine formaldehyde microcapsules of an average size of 1.1 µm and latent heat of fusion of 146.2 ± 5.3 J/g have been prepared. They have been characterized by scanning electron microscopy, FTIR spectroscopy, calorimetric techniques, and thermogravimetric analyses. Under processing conditions, the microcapsules apparently preserved their properties, also maintaining their n-eicosane loading and heat storage capacity under washing conditions (water with detergent at 60¿C). The microcapsules synthesis has been scaled up for the fabrication of functional films by extrusion. For that, polymer films containing 10 wt.% of microcapsules were prepared at a pilot plant level. In those films, even though a fraction of the n-eicosane loading was lost during the extrusion process, the microcapsules showed good compatibility within the polyamide. The percentage of PCM in the polyamide 6 films was estimated by TGA, verifying also the heat storage capacity predicted by DSC (2.6 ± 0.7 J/g). © 2022 by the authors. Licensee MDPI, Basel, Switzerland

Sonic crystal lenses that obey Lensmaker's formula

This paper presents a theoretical study of the phenomenon of acoustic imaging by sonic crystals, which are made of two-dimensional regular arrays of rigid cylinders placed in parallel in air. The scattering of acoustic waves is computed using the standard multiple scattering theory, and the band structures are computed by the plane-wave expansion method. It is shown that properly arranged arrays not only can behave as acoustic lenses, but also the focusing effect can be well described by Lensmaker's formula. Possible applications are also discussed.Comment: 4 pages, 5 figure