Gait Analysis of Natural and Artificial Walking Systems

This paper studies periodic gaits of multi-legged locomotion systems based on dynamic models. The purpose is to determine the system performance during walking and the best set of locomotion variables. For that objective the prescribed motion of the robot is completely characterized in terms of several locomotion variables such as gait, duty factor, body height, step length, stroke pitch, foot clearance, legs link lengths, foot-hip offset, body and legs mass and cycle time. In this perspective, we formulate three performance measures of the walking robot namely, the mean absolute energy, the mean power dispersion and the mean power lost in the joint actuators per walking distance. A set of model-based experiments reveals the influence of the locomotion variables in the proposed indices.

Quasi-periodic Gaits in Multi-legged Robots

5th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines

Energy analysis of Multi-legged Locomotion Systems

4th International Conference on Climbing and Walking Robots - From Biology to Industrial Applications

Can power laws help us understand gene and proteome information?

Proteins are biochemical entities consisting of one or more blocks typically folded in a 3D pattern. Each block (a polypeptide) is a single linear sequence of amino acids that are biochemically bonded together. The amino acid sequence in a protein is defined by the sequence of a gene or several genes encoded in the DNA-based genetic code. This genetic code typically uses twenty amino acids, but in certain organisms the genetic code can also include two other amino acids. After linking the amino acids during protein synthesis, each amino acid becomes a residue in a protein, which is then chemically modified, ultimately changing and defining the protein function. In this study, the authors analyze the amino acid sequence using alignment-free methods, aiming to identify structural patterns in sets of proteins and in the proteome, without any other previous assumptions. The paper starts by analyzing amino acid sequence data by means of histograms using fixed length amino acid words (tuples). After creating the initial relative frequency histograms, they are transformed and processed in order to generate quantitative results for information extraction and graphical visualization. Selected samples from two reference datasets are used, and results reveal that the proposed method is able to generate relevant outputs in accordance with current scientific knowledge in domains like protein sequence/proteome analysis.

A Review on the Characterization of Signals and Systems by Power Law Distributions

Power laws, also known as Pareto-like laws or Zipf-like laws, are commonly used to explain a variety of real world distinct phenomena, often described merely by the produced signals. In this paper, we study twelve cases, namely worldwide technological accidents, the annual revenue of America׳s largest private companies, the number of inhabitants in America׳s largest cities, the magnitude of earthquakes with minimum moment magnitude equal to 4, the total burned area in forest fires occurred in Portugal, the net worth of the richer people in America, the frequency of occurrence of words in the novel Ulysses, by James Joyce, the total number of deaths in worldwide terrorist attacks, the number of linking root domains of the top internet domains, the number of linking root domains of the top internet pages, the total number of human victims of tornadoes occurred in the U.S., and the number of inhabitants in the 60 most populated countries. The results demonstrate the emergence of statistical characteristics, very close to a power law behavior. Furthermore, the parametric characterization reveals complex relationships present at higher level of description.

On the Scalability of Constructive Interference in Low-Power Wireless Networks

12th European Conference on Wireless Sensor Networks (EWSN 2015). 9 to 11, Feb, 2015. Porto, Portugal

Short-Circuit Impedance of Power Transformers: the Fractional Order Calculus Approach

First IFAC Workshop on Fractional Differentiation and Its Application - 19-21 July 2004, Enseirb, Bordeaux, France - FDA'04

On the Estimation of the Short-Circuit Impedance of Power Transformers Using Fractional Order Calculus

This paper reports investigation on the estimation of the short circuit impedance of power transformers, using fractional order calculus to analytically study the influence of the diffusion phenomena in the windings. The aim is to better characterize the medium frequency range behavior of leakage inductances of power transformer models, which include terms to represent the magnetic field diffusion process in the windings. Comparisons between calculated and measured values are shown and discussed.

Adaptive filtering for high quality HMM based speech synthesis

In this work an adaptive filtering scheme based on a dual Discrete Kalman Filtering (DKF) is proposed for Hidden Markov Model (HMM) based speech synthesis quality enhancement. The objective is to improve signal smoothness across HMMs and their related states and to reduce artifacts due to acoustic model's limitations. Both speech and artifacts are modelled by an autoregressive structure which provides an underlying time frame dependency and improves time-frequency resolution. Themodel parameters are arranged to obtain a combined state-space model and are also used to calculate instantaneous power spectral density estimates. The quality enhancement is performed by a dual discrete Kalman filter that simultaneously gives estimates for the models and the signals. The system's performance has been evaluated using mean opinion score tests and the proposed technique has led to improved results.