Ten minutes of dynamic stretching is sufficient to potentiate vertical jump performance characteristics

The current literature recommends dynamic rather than static stretching for the athletic warm-up. Dynamic stretching and various conditioning stimuli are used to induce potentiation in subsequent athletic performance. However, it is unknown as to which type of activity in conjunction with dynamic stretching within a warm-up provides the optimal potentiation of vertical jump performance. It was the objective of the study to examine the possible potentiating effect of various types of conditioning stimuli with dynamic stretching. Twenty athletes participated in 6 protocols. All the experimental protocols included 10 minutes of dynamic stretching. After the dynamic stretching, the subjects performed a (a) concentric (DS/CON): 3 sets of 3 repetition maximum deadlift exercise; (b) isometric (DS/ISOM): 3 sets of 3-second maximum voluntary contraction back squats; (c) plyometric (DS/PLYO): 3 sets of 3 tuck jumps; (d) eccentric (DS/ECC): 3 modified drop jumps; (e) dynamic stretching only (DS), and (f) control protocol (CON). Before the intervention and at recovery periods of 15 seconds, 4, 8, 12, 16, and 20 minutes, the participants performed 1-2 maximal countermovement jumps. The DS and DS/CON protocols generally had a 95-99% likelihood of exceeding the smallest worthwhile change for vertical jump height, peak power, velocity and force. However, the addition of the deadlift to the DS did not augment the potentiating effect. Time-to-peak potentiation was variable between individuals but was most consistent between 3 and 5 minutes. Thus, the volume and the intensity associated with 10 minutes of dynamic stretching were sufficient to provide the potentiation of vertical jump characteristics. Additional conditioning activities may promote fatigue processes, which do not permit further potentiation.

Dynamic virtual workspace for teleoperation of heterogeneous robots in non-deterministic environments

Robots are ever increasing in a variety of different workplaces providing an array of benefits such alternative solutions to traditional human labor. While developing fully autonomous robots is the ultimate goal in many robotic applications the reality is that there still exist many situationswere robots require some level of teleoperation in order to achieve assigned goals especially when deployed in non-deterministic environments. For instance teleoperation is commonly used in areas such as search and rescue, bomb disposal and exploration of inaccessible or harsh terrain. This is due to a range of factors such as the lack of ability for robots to quickly and reliably navigate unknown environments or provide high-level decision making especially intime critical tasks. To provide an adequate solution for such situations human-in-the-loop control is required. When developing human-in-the-loop control it is important to take advantage of the complimentary skill-sets that both humans and robots share. For example robots can performrapid calculations, provide accurate measurements through hardware such as sensors and store large amounts of data while humans provide experience, intuition, risk management and complex decision making capabilities. Shared autonomy is the concept of building robotic systems that take advantage of these complementary skills-sets to provide a robust an efficient robotic solution. While the requirement of human-in-the-loop control exists Human Machine Interaction (HMI) remains an important research topic especially the area of User Interface (UI) design.In order to provide operators with an effective teleoperation system it is important that the interface is intuitive and dynamic while also achieving a high level of immersion. Recent advancements in virtual and augmented reality hardware is giving rise to innovative HMI systems. Interactive hardware such as Microsoft Kinect, leap motion, Oculus Rift, Samsung Gear VR and even CAVE Automatic Virtual Environments [1] are providing vast improvements over traditional user interface designs such as the experimental web browser JanusVR [2]. This combined with the introduction of standardized robot frameworks such as ROS and Webots [3] that now support a large number of different robots provides an opportunity to develop a universal UI for teleoperation control to improve operator efficiency while reducing teleoperation training.This research introduces the concept of a dynamic virtual workspace for teleoperation of heterogeneous robots in non-deterministic environments that require human-in-the-loop control. The system first identifies the connected robots through the use kinematic information then determines its network capabilities such as latency and bandwidth. Given the robot type and network capabilities the system can then provide the operator with available teleoperation modes such as pick and place control or waypoint navigation while also allowing them to manipulate the virtual workspace layout to provide information from onboard camera’s or sensors.

Design of robust distributed control for interconnected microgrids

Microgrids are currently controlled independently, according to local requirements and aims, often based on local control strategies and without coordination with other microgrids [1], [2]. However, it is anticipated that future sub-transmission and distribution systems will be composed of several interconnected microgrids and form a complex elec-tric network. Interconnecting together multiple microgrids can lead to undesirable dynamic behaviors, which have not been adequately examined so far. In particular, this paper dis-cusses power oscillations arising from multiple interconnected microgrids and proposes a control scheme based on a robust distributed control approach.

Kinect with ROS, interact with oculus: towards dynamic user interfaces for robotic teleoperation

Teleoperation remains an important aspect for robotic systems especially when deployed in unstructured environments. While a range of research strives for robots that are completely autonomous, many robotic applications still require some level of human-in-The-loop control. In any situation where teleoperation is required an effective User Interface (UI) remains a key component within the systems design. Current advancements in Virtual Reality (VR) software and hardware such as the Oculus Rift, HTC Vive and Google Cardboard combined with greater transparency to robotic systems afforded by middleware such as the Robot Operating System (ROS) provides an opportunity to rapidly improve traditional teleoperation interfaces. This paper uses a System of System (SoS) approach to present the concept of a Virtual Reality Dynamic User Interface (VRDUI) for the teleoperation of heterogeneous robots. Different geometric virtual workspaces are discussed and a cylindrical workspace aligned with interactive displays is presented as a virtual control room. A presentation mode within the proposed VRDUI is also detailed, this shows how point cloud information obtained from the Microsoft Kinect can be incorporated within the proposed virtual workspace. This point cloud data is successfully processed into an OctoMap utilizing the octree data structure to create a voxelized representation of the 3D scanned environment. The resulting OctoMap is then displayed to an operator as a 3D point cloud using the Oculus Rift Head Mounted Display (HMD).

Integration of electric vehicles for load frequency output feedback H ∞ control of smart grids

This study considers a novel application of electric vehicles (EVs) to quickly help reheated thermal turbine units to provide the stability fluctuated by load demands. A mathematical model of a power system with EVs is first derived. This model contains the dynamic interactions of EVs and multiple network-induced time delays. Then, a dynamic output feedback H∞ controller for load frequency control of power systems with multiple time delays in the control input is proposed. To address the multiple time delays issue, a refined Jensen-based inequality, which encompasses the Jensen inequality, is used to derive less conservative synthesis conditions in terms of tractable linear matrix inequalities. A procedure is given to parameterise an output feedback controller to guarantee stability and H∞ performance of the closed-loop system. Extensive simulations are conducted to validate the proposed control method.

Achieving simple, secure and efficient hierarchical access control in cloud computing

Access control is an indispensable security component of cloud computing, and hierarchical access control is of particular interest since in practice one is entitled to different access privileges. This paper presents a hierarchical key assignment scheme based on linear-geometry as the solution of flexible and fine-grained hierarchical access control in cloud computing. In our scheme, the encryption key of each class in the hierarchy is associated with a private vector and a public vector, and the inner product of the private vector of an ancestor class and the public vector of its descendant class can be used to derive the encryption key of that descendant class. The proposed scheme belongs to direct access schemes on hierarchical access control, namely each class at a higher level in the hierarchy can directly derive the encryption key of its descendant class without the need of iterative computation. In addition to this basic hierarchical key derivation, we also give a dynamic key management mechanism to efficiently address potential changes in the hierarchy. Our scheme only needs light computations over finite field and provides strong key indistinguishability under the assumption of pseudorandom functions. Furthermore, the simulation shows that our scheme has an optimized trade-off between computation consumption and storage space.

Control-oriented modeling of a polymeric soft robot

This article describes an efficient control-oriented model of a soft robot made of electroactive polymers. The proposed soft robot is constructed from two flexible links and has a multiphysics dynamic model consisting of both an electrochemical and electromechanical model. The electrochemical model is based on a distributed RC line approach, and the electromechanical model, considering the continuum vibration of the robot, is derived based on Hamilton's principle. The governing equation of the soft robot is solved by means of the Rayleigh-Ritz-Meirovitch substructure synthesis method, and the Laplace operator is used to obtain the transfer function of the soft robot as a 2 by 2 multiple-input multiple-output system.

A novel operation and control strategy for a standalone hybrid renewable power system

This paper proposes a novel operation and control strategy for a renewable hybrid power system for a standalone operation. The proposed hybrid system consists of a wind turbine, a fuel cell, an electrolyzer, a battery storage unit, and a set of loads. The overall control strategy is based on a two-level structure. The top level is the energy management and power regulation system. Depending on wind and load conditions, this system generates reference dynamic operating points to low level individual subsystems. The energy management and power regulation system also controls the load scheduling operation during unfavorable wind conditions under inadequate energy storage in order to avoid a system blackout. Based on the reference dynamic operating points of the individual subsystems, the local controllers control the wind turbine, fuel cell, electrolyzer, and battery storage units. The proposed control system is implemented in MATLAB Simpower software and tested for various wind and load conditions. Results are presented and discussed.