On the biomimetic design of agile-robot legs

The development of functional legged robots has encountered its limits in human-made actuation technology. This paper describes research on the biomimetic design of legs for agile quadrupeds. A biomimetic leg concept that extracts key principles from horse legs which are responsible for the agile and powerful locomotion of these animals is presented. The proposed biomimetic leg model defines the effective leg length, leg kinematics, limb mass distribution, actuator power, and elastic energy recovery as determinants of agile locomotion, and values for these five key elements are given. The transfer of the extracted principles to technological instantiations is analyzed in detail, considering the availability of current materials, structures and actuators. A real leg prototype has been developed following the biomimetic leg concept proposed. The actuation system is based on the hybrid use of series elasticity and magneto-rheological dampers which provides variable compliance for natural motion. From the experimental evaluation of this prototype, conclusions on the current technological barriers to achieve real functional legged robots to walk dynamically in agile locomotion are presented.

Computer simulation of the interplay between fractal structures and surrounding heterogeneous multifractal distributions. Applications

In a large number of physical, biological and environmental processes interfaces with high irregular geometry appear separating media (phases) in which the heterogeneity of constituents is present. In this work the quantification of the interplay between irregular structures and surrounding heterogeneous distributions in the plane is made For a geometric set image and a mass distribution (measure) image supported in image, being image, the mass image gives account of the interplay between the geometric structure and the surrounding distribution. A computation method is developed for the estimation and corresponding scaling analysis of image, being image a fractal plane set of Minkowski dimension image and image a multifractal measure produced by random multiplicative cascades. The method is applied to natural and mathematical fractal structures in order to study the influence of both, the irregularity of the geometric structure and the heterogeneity of the distribution, in the scaling of image. Applications to the analysis and modeling of interplay of phases in environmental scenarios are given.

Measurement of electrons from heavy-flavour hadron decays in p-Pb collisions at $\\sqrt{s_{NN}} = 5.02$ TeV using TPC and EMCal detectors with ALICE at LHC

Heavy-ion collisions are a powerful tool to study hot and dense QCD matter, the so-called Quark Gluon Plasma (QGP). Since heavy quarks (charm and beauty) are dominantly produced in the early stages of the collision, they experience the complete evolution of the system. Measurements of electrons from heavy-flavour hadron decay is one possible way to study the interaction of these particles with the QGP. With ALICE at LHC, electrons can be identified with high efficiency and purity. A strong suppression of heavy-flavour decay electrons has been observed at high $p_{m T}$ in Pb-Pb collisions at 2.76 TeV. Measurements in p-Pb collisions are crucial to understand cold nuclear matter effects on heavy-flavour production in heavy-ion collisions. The spectrum of electrons from the decays of hadrons containing charm and beauty was measured in p-Pb collisions at $\\sqrt = 5.02$ TeV. The heavy flavour decay electrons were measured by using the Time Projection Chamber (TPC) and the Electromagnetic Calorimeter (EMCal) detectors from ALICE in the transverse-momentum range $2 < p_ < 20$ GeV/c. The measurements were done in two different data set: minimum bias collisions and data using the EMCal trigger. The non-heavy flavour electron background was removed using an invariant mass method. The results are compatible with one ($R_ \\approx$ 1) and the cold nuclear matter effects in p-Pb collisions are small for the electrons from heavy-flavour hadron decays.

Modeling of Self-similar Traffic

Modeling of self-similar traffic is performed for the queuing system of G/M/1/K type using Weibull distribution. To study the self-similar traffic the simulation model is developed by using SIMULINK software package in MATLAB environment. Approximation of self-similar traffic on the basis of spline functions. Modeling self-similar traffic is carried outfor QS of W/M/1/K type using the Weibull distribution. Initial data are: the value of Hurst parameter H=0,65, the shape parameter of the distribution curve α≈0,7 and distribution parameter β≈0,0099. Considering that the self-similar traffic is characterized by the presence of "splashes" and long-termdependence between the moments of requests arrival in this study under given initial data it is reasonable to use linear interpolation splines.