Adaptive control with unknown mass estimation for a quadrotor-slung-load system.

In aerial load transportation applications, knowing the mass of the load in advance is not always possible. The load dynamics depend on its mass and using a high-performance model-based controller with an inaccurate mass will introduce unmodeled disturbances to the system that will negatively affect the closed-loop performance. This paper addresses the design of a trajectory tracking controller for a quadrotor with a slung-load that has an unknown mass. The proposed solution is an adaptive controller with online estimation designed using the backstepping technique. Nonlinear control laws for thrust and angular velocity, and an adaption law for mass estimation are proposed, which guarantee the convergence of the trajectory tracking and the estimation errors to zero, and are robust to variations in load mass. Simulation and experimental results are presented to assess the validity and performance of the proposed controller.

Effect of Processing Time of Steam-Explosion for the Extraction of Cellulose Fibers from Phoenix canariensis Palm Leaves as Potential Renewable Feedstock for Materials.

This paper briefly discusses the utilization of pruning wastes as a lignocellulosic source of cellulose fibers, which could be of potential use in the development of valuable materials such as sustainable textiles and fillers for footwear components including uppers and soles. Phoenix canariensis palm leaves, one of the most common plants found in the local environment of the Alicante region (Spain), was used as a biomass raw material. Determining appropriate processing parameters and their desired range of maximum cellulose extraction states is key to improving yields. Therefore, this study aimed at determining the effect of processing conditions on cellulose extraction by optimizing the hydrothermal process, as a part of overall combined processes involving several steps. Specifically, the time of the steam-explosion stage was varied between 15 and 33 min in order to maximize the cellulose extraction yield. The composition of both the extracted fibers and the resulting by-product solutions generated during the different steps were determined by FTIR and TGA in order to analyze the effectiveness of removing hemicellulose, lignin and extractives as well as the removed substances at each stage for their further valorization. Additionally, the morphology of cellulosic fibers was evaluated by SEM and their crystallinity by XRD. Crystalline cellulose fibers were successfully extracted from pruning biomass wastes, achieving more efficient removal of hemicellulose and lignin when the hydrothermal process was assessed over 25-33 min. This resulted in finer and smoother fibers, but the crystallinity of α-cellulose decreased as the time of steam-explosion increased to 33 min. The characterization of waste solutions generated after the different extraction steps confirmed that the most effective treatments to remove lignin and hemicellulose from the cell wall are alkaline pretreatment and a hydrothermal process.

Organosilicon-Based Plasma Nanocoating on Crust Leather for Water-Repellent Footwear.

In this study, functional nanocoatings for water-repellent footwear leather materials were investigated by chemical plasma polymerisation by implanting and depositing the organosilicon compound hexamethyldisiloxane (HMDSO) using a low-pressure plasma system. To this end, the effect of monomers on leather plasma deposition time was evaluated and both the resulting plasma polymers and the deposited leather samples were characterised using different experimental techniques, such as: Fourier transform infrared spectroscopy (FTIR), X-ray photoelectron spectroscopy (XPS) and scanning electron microscopy (SEM). In addition, leather samples were tested by standard tests for color change, water resistance, surface wetting resistance and dynamic water contact angle (DWCA). The resulting polysiloxane polymers exhibited hydrophobic properties on leather. Furthermore, these chemical surface modifications created on the substrate can produce water repellent effects without altering the visual leather appearance and physical properties. Both plasma coating treatments and nanocoatings with developed water-repellency properties can be considered as a more sustainable, automated and less polluting alternative to chemical conventional processing that can be introduced into product-finishing processes in the footwear industry.

Sustainable Reactive Polyurethane Hot Melt Adhesives Based on Vegetable Polyols for Footwear Industry.

The aim of this work is to develop sustainable reactive polyurethane hot melt adhesives (HMPUR) for footwear applications based on biobased polyols as renewable resources, where ma-croglycol mixtures of polyadipate of 1,4-butanediol, polypropylene and different biobased polyols were employed and further reacted with 4-4'-diphenylmethane diisocyanate. The different reactive polyurethane hot melt adhesives obtained were characterized with different experimental techniques, such as Fourier transform infrared spectroscopy (FTIR), thermogravimetric analysis (TGA), differential scanning calorimetry (DSC), softening temperature and melting viscosity. Finally, their adhesion properties were measured from T-peel tests on leather/HMPUR adhesives/SBR rubber joints in order to establish the viability of the used biobased polyols and the amount of these polyols that could be added to reactive polyurethane hot melt adhesives satisfactorily to meet the quality requirements of footwear joints. All biobased polyols and percentages added to the polyurethane adhesive formulations successfully met the quality requirements of footwear, being comparable to traditional adhesives currently used in footwear joints in terms of final strength. Therefore, these new sustainable polyurethane adhesives can be considered as suitable and sustainable alternatives to the adhesives commonly used in footwear joints.

Adaptive-Constrained Impedance Control for Human-Robot Co-Transportation.

Human-robot co-transportation allows for a human and a robot to perform an object transportation task cooperatively on a shared environment. This range of applications raises a great number of theoretical and practical challenges arising mainly from the unknown human-robot interaction model as well as from the difficulty of accurately model the robot dynamics. In this article, an adaptive impedance controller for human-robot co-transportation is put forward in task space. Vision and force sensing are employed to obtain the human hand position, and to measure the interaction force between the human and the robot. Using the latest developments in nonlinear control theory, we propose a robot end-effector controller to track the motion of the human partner under actuators' input constraints, unknown initial conditions, and unknown robot dynamics. The proposed adaptive impedance control algorithm offers a safe interaction between the human and the robot and achieves a smooth control behavior along the different phases of the co-transportation task. Simulations and experiments are conducted to illustrate the performance of the proposed techniques in a co-transportation task.

Hydrophobic Leather Coating for Footwear Applications by a Low-Pressure Plasma Polymerisation Process.

The aim of this work is to develop hydrophobic coatings on leather materials by plasma polymerisation with a low-pressure plasma system using an organosilicon compound, such as hexamethyldisiloxane (HMDSO), as chemical precursor. The hydrophobic coatings obtained by this plasma process were evaluated with different experimental techniques such as Fourier transform infrared spectroscopy (FTIR), X-ray photoelectron spectroscopy (XPS), scanning electron microscopy (SEM) and standardised tests including colour measurements of the samples, surface coating thickness and water contact angle (WCA) measurements. The results obtained indicated that the monomer had polymerised correctly and completely on the leather surface creating an ultra-thin layer based on polysiloxane. The surface modification produced a water repellent effect on the leather that does not alter the visual appearance and haptic properties. Therefore, the application of the plasma deposition process showed promising results that makes it a more sustainable alternative to conventional functional coatings, thus helping to reduce the use of hazardous chemicals in the finishing process of footwear manufacturing.

Nonlinear Ride Height Control of Active Air Suspension System with Output Constraints and Time-Varying Disturbances.

This paper addresses the problem of nonlinear height tracking control of an automobile active air suspension with the output state constraints and time-varying disturbances. The proposed control strategy guarantees that the ride height stays within a predefined range, and converges closely to an arbitrarily small neighborhood of the desired height, ensuring uniform ultimate boundedness. The designed nonlinear observer is able to compensate for the time-varying disturbances caused by external random road excitation and perturbations, achieving robust performance. Simulation results obtained from the co-simulation (AMESim-Matlab/Simulink) are given and analyzed, demonstrating the efficiency of the proposed control methodology.

Design and Experimental Validation of a USBL Underwater Acoustic Positioning System.

This paper presents the steps for developing a low-cost POrtableNavigation Tool for Underwater Scenarios (PONTUS) to be used as a localization device for subsea targets. PONTUS consists of an integrated ultra-short baseline acoustic positioning system aided by an inertial navigation system. Built on a practical design, it can be mounted on an underwater robotic vehicle or be operated by a scuba diver. It also features a graphical user interface that provides information on the tracking of the designated target, in addition to some details on the physical properties inside PONTUS. A full disclosure of the architecture of the tool is first presented, followed by thorough technical descriptions of the hardware components ensemble and the software development process. A series of experiments was carried out to validate the developed prototype, and the results are presented herein, which allow assessing its overall performance.

On the distinguishability of HRF models in fMRI.

Modeling the Hemodynamic Response Function (HRF) is a critical step in fMRI studies of brain activity, and it is often desirable to estimate HRF parameters with physiological interpretability. A biophysically informed model of the HRF can be described by a non-linear time-invariant dynamic system. However, the identification of this dynamic system may leave much uncertainty on the exact values of the parameters. Moreover, the high noise levels in the data may hinder the model estimation task. In this context, the estimation of the HRF may be seen as a problem of model falsification or invalidation, where we are interested in distinguishing among a set of eligible models of dynamic systems. Here, we propose a systematic tool to determine the distinguishability among a set of physiologically plausible HRF models. The concept of absolutely input-distinguishable systems is introduced and applied to a biophysically informed HRF model, by exploiting the structure of the underlying non-linear dynamic system. A strategy to model uncertainty in the input time-delay and magnitude is developed and its impact on the distinguishability of two physiologically plausible HRF models is assessed, in terms of the maximum noise amplitude above which it is not possible to guarantee the falsification of one model in relation to another. Finally, a methodology is proposed for the choice of the input sequence, or experimental paradigm, that maximizes the distinguishability of the HRF models under investigation. The proposed approach may be used to evaluate the performance of HRF model estimation techniques from fMRI data.

A glimpse on the phenomenon of macrophage polarization during atherosclerosis.

Atherosclerosis and associated cardiovascular disease are the leading causes of mortality in developed countries and the World Health Organization has estimated that by 2020 these disorders will be the main sanitary and socio-economic problem world-wide due in part to the progressive aging of our societies. Atherosclerosis is a complex chronic inflammatory process triggered and perpetuated by cardiovascular risk factors which cause endothelial dysfunction and leukocyte infiltration within the subendothelial space in the artery wall. In this review, we summarize the mechanisms that govern the recruitment of circulating monocytes into the incipient atherosclerotic lesion and their differentiation into macrophages. Moreover, we discuss current knowledge on macrophage polarization, a phenomenon of increasing interest given recent work suggesting that different stages in the progression of atherosclerosis are associated with the presence of distinct macrophage subtypes. Understanding the molecular mechanisms that orchestrate macrophage polarization and the precise role of distinct macrophage subsets should provide a basis for novel treatment strategies to limit the progression of atherosclerosis.

Control of cell proliferation in atherosclerosis: insights from animal models and human studies.

Excessive hyperplastic cell growth within occlusive vascular lesions has been recognized as a key component of the inflammatory response associated with atherosclerosis, restenosis post-angioplasty, and graft atherosclerosis after coronary artery bypass. Understanding the molecular mechanisms that regulate arterial cell proliferation is therefore essential for the development of new tools for the treatment of these diseases. Mammalian cell proliferation is controlled by a large number of proteins that modulate the mitotic cell cycle, including cyclin-dependent kinases, cyclins, and tumour suppressors. The purpose of this review is to summarize current knowledge about the role of these cell cycle regulators in the development of native and graft atherosclerosis that has arisen from animal studies, histological examination of specimens from human patients, and genetic studies.