A rational fraction polynomials model to study vertical dynamic wheel-rail interaction

This paper presents a model designed to study vertical interactions between wheel and rail when the wheel moves over a rail welding. The model focuses on the spatial domain, and is drawn up in a simple fashion from track receptances. The paper obtains the receptances from a full track model in the frequency domain already developed by the authors, which includes deformation of the rail section and propagation of bending, elongation and torsional waves along an infinite track. Transformation between domains was secured by applying a modified rational fraction polynomials method. This obtains a track model with very few degrees of freedom, and thus with minimum time consumption for integration, with a good match to the original model over a sufficiently broad range of frequencies. Wheel-rail interaction is modelled on a non-linear Hertzian spring, and consideration is given to parametric excitation caused by the wheel moving over a sleeper, since this is a moving wheel model and not a moving irregularity model. The model is used to study the dynamic loads and displacements emerging at the wheel-rail contact passing over a welding defect at different speeds.

Modelling rail corrugation with specific track parameters focusing on ballasted track and slab track

The objective of this paper is to compare 3 types of track (high performance ballasted track, STEDEF and AFTRAV) from the corrugation growth point of view. This work has considered different vehicle speeds and track radii, and the results have taken into account the four wheels of a bogie. These tracks have been studied using Finite Elements with Nastran-Patran and RACING, a tool developed in Matlab by the authors which estimates the corrugation growth tendency. The tracks are studied using the Finite Strip Method and the Periodic Structure Theory. Lateral and vertical receptances for track and vehicle have been obtained, as well as the corrugation growth functions. In the paper the tracks are ranked according to corrugation development.

An agent-based multi-scale wind generation model

(EuroPES 2009)

Metalak eta metaloideak itsasadarretan: kutsadura jarraitzeko erreminta analitikoen

265 p.

Testing the performance and feasibility of Bluetooth communications in pervasive systems

Smart and mobile environments require seamless connections. However, due to the frequent process of ''discovery'' and disconnection of mobile devices while data interchange is happening, wireless connections are often interrupted. To minimize this drawback, a protocol that enables an easy and fast synchronization is crucial. Bearing this in mind, Bluetooth technology appears to be a suitable solution to carry on such connections due to the discovery and pairing capabilities it provides. Nonetheless, the time and energy spent when several devices are being discovered and used at the same time still needs to be managed properly. It is essential that this process of discovery takes as little time and energy as possible. In addition to this, it is believed that the performance of the communications is not constant when the transmission speeds and throughput increase, but this has not been proved formally. Therefore, the purpose of this project is twofold: Firstly, to design and build a framework-system capable of performing controlled Bluetooth device discovery, pairing and communications. Secondly, to analyze and test the scalability and performance of the \emph{classic} Bluetooth standard under different scenarios and with various sensors and devices using the framework developed. To achieve the first goal, a generic Bluetooth platform will be used to control the test conditions and to form a ubiquitous wireless system connected to an Android Smartphone. For the latter goal, various stress-tests will be carried on to measure the consumption rate of battery life as well as the quality of the communications between the devices involved.

Mecanizado por torneado en duro

[ES]Los objetivos del siguiente trabajo consisten en analizar e optimizar el proceso del torneado en duro del acero ASP-23 indagando de especial manera en la realización de diferentes soluciones para brochas. En este caso, este proyecto nace de la importancia de reducir así como los costes económicos y los costes temporales de fabricación de elementos basados en el acero ASP-23 mediante el torneado en duro; proceso de mecanizado, cuya importancia cada vez es mayor como en las industrias de automoción o aeronáutica. El desarrollo del proyecto es fruto de la necesidad de EKIN S. Coop, uno de los líderes en los procesos de máquina-herramienta de alta precisión para el brochado, de desarrollar un proceso de mecanizado más eficaz de las brochas que produce. Así en el aula máquina-herramienta (ETSIB) se han intentado demostrar los beneficios que tiene el torneado en duro en el mecanizado del ASP-23. Hoy en día, con el rápido desarrollo de nuevos materiales, los procesos de fabricación se están haciendo cada vez más complejos, por la amplia variedad de maquinas con las que se realizan los procesos, por la variedad de geometría/material de las herramientas empleadas, por las propiedades del material de la pieza a mecanizar, por los parámetros de corte tan variados con los que podemos implementar el proceso (profundidad de corte, velocidad, alimentación...) y por la diversidad de elementos de sujeción utilizados. Además debemos ser conscientes de que tal variedad implica grandes magnitudes de deformaciones, velocidades y temperaturas. He aquí la justificación y el gran interés en el proyecto a realizar. Por ello, en este proyecto intentamos dar un pequeño paso en el conocimiento del proceso del torneado en duro de aceros con poca maquinabilidad, siendo conscientes de la amplia variedad y dificultad del avance en la ingeniería de fabricación y del mucho trabajo que queda por hacer.

Spinal circuits can accommodate interaction torques during multijoint limb movements

The dynamic interaction of limb segments during movements that involve multiple joints creates torques in one joint due to motion about another. Evidence shows that such interaction torques are taken into account during the planning or control of movement in humans. Two alternative hypotheses could explain the compensation of these dynamic torques. One involves the use of internal models to centrally compute predicted interaction torques and their explicit compensation through anticipatory adjustment of descending motor commands. The alternative, based on the equilibrium-point hypothesis, claims that descending signals can be simple and related to the desired movement kinematics only, while spinal feedback mechanisms are responsible for the appropriate creation and coordination of dynamic muscle forces. Partial supporting evidence exists in each case. However, until now no model has explicitly shown, in the case of the second hypothesis, whether peripheral feedback is really sufficient on its own for coordinating the motion of several joints while at the same time accommodating intersegmental interaction torques. Here we propose a minimal computational model to examine this question. Using a biomechanics simulation of a two-joint arm controlled by spinal neural circuitry, we show for the first time that it is indeed possible for the neuromusculoskeletal system to transform simple descending control signals into muscle activation patterns that accommodate interaction forces depending on their direction and magnitude. This is achieved without the aid of any central predictive signal. Even though the model makes various simplifications and abstractions compared to the complexities involved in the control of human arm movements, the finding lends plausibility to the hypothesis that some multijoint movements can in principle be controlled even in the absence of internal models of intersegmental dynamics or learned compensatory motor signals.

Low Molecular Weight Chitosan (LMWC)-based Polyplexes for pDNA Delivery: From Bench to Bedside

Non-viral gene delivery vectors are emerging as a safer alternative to viral vectors. Among natural polymers, chitosan (Ch) is the most studied one, and low molecular weight Ch, specifically, presents a wide range of advantages for non-viral pDNA delivery. It is crucial to determine the best process for the formation of Low Molecular Weight Chitosan (LMWC)-pDNA complexes and to characterize their physicochemical properties to better understand their behavior once the polyplexes are administered. The transfection efficiency of Ch based polyplexes is relatively low. Therefore, it is essential to understand all the transfection process, including the cellular uptake, endosomal escape and nuclear import, together with the parameters involved in the process to improve the design and development of the non-viral vectors. The aim of this review is to describe the formation and characterization of LMWC based polyplexes, the in vitro transfection process and finally, the in vivo applications of LMWC based polyplexes for gene therapy purposes.

Learning Multirobot Hose Transportation and Deployment by Distributed Round-Robin Q-Learning

Multi-Agent Reinforcement Learning (MARL) algorithms face two main difficulties: the curse of dimensionality, and environment non-stationarity due to the independent learning processes carried out by the agents concurrently. In this paper we formalize and prove the convergence of a Distributed Round Robin Q-learning (D-RR-QL) algorithm for cooperative systems. The computational complexity of this algorithm increases linearly with the number of agents. Moreover, it eliminates environment non sta tionarity by carrying a round-robin scheduling of the action selection and execution. That this learning scheme allows the implementation of Modular State-Action Vetoes (MSAV) in cooperative multi-agent systems, which speeds up learning convergence in over-constrained systems by vetoing state-action pairs which lead to undesired termination states (UTS) in the relevant state-action subspace. Each agent's local state-action value function learning is an independent process, including the MSAV policies. Coordination of locally optimal policies to obtain the global optimal joint policy is achieved by a greedy selection procedure using message passing. We show that D-RR-QL improves over state-of-the-art approaches, such as Distributed Q-Learning, Team Q-Learning and Coordinated Reinforcement Learning in a paradigmatic Linked Multi-Component Robotic System (L-MCRS) control problem: the hose transportation task. L-MCRS are over-constrained systems with many UTS induced by the interaction of the passive linking element and the active mobile robots.