Analyzing energy-efficient configurations in hexapod robots for demining applications

Purpose – Reducing energy consumption in walking robots is an issue of great importance in field applications such as humanitarian demining so as to increase mission time for a given power supply. The purpose of this paper is to address the problem of improving energy efficiency in statically stable walking machines by comparing two leg, insect and mammal, configurations on the hexapod robotic platform SILO6. Design/methodology/approach – Dynamic simulation of this hexapod is used to develop a set of rules that optimize energy expenditure in both configurations. Later, through a theoretical analysis of energy consumption and experimental measurements in the real platform SILO6, a configuration is chosen. Findings – It is widely accepted that the mammal configuration in statically stable walking machines is better for supporting high loads, while the insect configuration is considered to be better for improving mobility. However, taking into account the leg dynamics and not only the body weight, different results are obtained. In a mammal configuration, supporting body weight accounts for 5 per cent of power consumption while leg dynamics accounts for 31 per cent. Originality/value – As this paper demonstrates, the energy expended when the robot walks along a straight and horizontal line is the same for both insect and mammal configurations, while power consumption during crab walking in an insect configuration exceeds power consumption in the mammal configuration.

The investigation of energy efficiency measures in the traditional buildings in Oporto World Heritage Site

Background The improvement of energy efficiency in buildings is widely promoted as a measure to mitigate climate change through the reduction of CO2 emissions. Thermal regulations worldwide promote it, for both new and existing buildings. Among the existing stock, traditional and historic buildings pose the additional challenge of heritage conservation. Their energy efficiency upgrade raises the risk of provoking negative impacts on their significance. Aims and Methodology This research used an approach based on impact assessment methodologies, defining an inital baseline scenario for both heritage and energy, from which the appropriate improvement solutions were identified and assessed. The measures were dynamically simulated and the results for energy, CO2, cost and comfort compared with the initial scenario, and then being further assessed for their heritage impact to eventually determine the most feasible solutions. To test this method, ten case studies, representative of the identified typological variants, were selected among Oporto’s traditional buildings located in the World Heritage Site. Findings and Conclusions The fieldwork data revealed that the energy consumption of these dwellings was below the European average. Additionally, the households expressed that their home comfort sensation was overall positive. The simulations showed that the introduction of insulation and solar thermal panels were ineffective on these cases in terms of energy, cost and comfort. At the same time, these measures pose a great risk to the buildings heritage value. The most efficient solutions were obtained from behavioural changes and DHW retrofit. The study reinforced the idea that traditional buildings performed better than expected and can be retrofitted and updated at a low-cost and with passive solutions. The use of insulation and solar panels should be disregarded.

Food and nutrient consumption patterns in third trimester Thai-Muslim pregnant women in rural Southern Thailand

The aims of this study were to determine food and nutrient intakes and the socio-economic factors influencing food and nutrient intakes of rural Thai-Muslim women in the third trimester of pregnancy. The study was conducted in Pattani province, Thailand, where 166 women were interviewed between 32 and 40 weeks gestation. A questionnaire. including a Food Frequency Questionnaire was used. Data on food items were compiled into the five basic Thai food groups, and food intakes were computed into macro and micro-nutrients. Mean weight intake of each of the five groups was below the recommended level for pregnant Thai women. Mean intake of niacin, vitamin A (RE) and vitamin C were above the recommended Thai level. Thiamin, calcium. phosphorus and iron intakes were lower than 50% of recommended levels. Intakes of the five food groups were not associated with socio-economic status, although total non-haem iron intake was associated with level of education. Under-consumption of food and nutrients among pregnant women in the study area was due to poor education. poverty and food availability. Integrated strategies should be considered to promote increased intakes to meet nutrient recommendations.

The Riesz transform and simultaneous representations of phase, energy and orientation in spatial vision

To represent the local orientation and energy of a 1-D image signal, many models of early visual processing employ bandpass quadrature filters, formed by combining the original signal with its Hilbert transform. However, representations capable of estimating an image signal's 2-D phase have been largely ignored. Here, we consider 2-D phase representations using a method based upon the Riesz transform. For spatial images there exist two Riesz transformed signals and one original signal from which orientation, phase and energy may be represented as a vector in 3-D signal space. We show that these image properties may be represented by a Singular Value Decomposition (SVD) of the higher-order derivatives of the original and the Riesz transformed signals. We further show that the expected responses of even and odd symmetric filters from the Riesz transform may be represented by a single signal autocorrelation function, which is beneficial in simplifying Bayesian computations for spatial orientation. Importantly, the Riesz transform allows one to weight linearly across orientation using both symmetric and asymmetric filters to account for some perceptual phase distortions observed in image signals - notably one's perception of edge structure within plaid patterns whose component gratings are either equal or unequal in contrast. Finally, exploiting the benefits that arise from the Riesz definition of local energy as a scalar quantity, we demonstrate the utility of Riesz signal representations in estimating the spatial orientation of second-order image signals. We conclude that the Riesz transform may be employed as a general tool for 2-D visual pattern recognition by its virtue of representing phase, orientation and energy as orthogonal signal quantities.

Balancing Energy and Performance in Dense Linear System Solvers for Hybrid ARM+GPU platforms

The high performance computing community has traditionally focused uniquely on the reduction of execution time, though in the last years, the optimization of energy consumption has become a main issue. A reduction of energy usage without a degradation of performance requires the adoption of energy-efficient hardware platforms accompanied by the development of energy-aware algorithms and computational kernels. The solution of linear systems is a key operation for many scientific and engineering problems. Its relevance has motivated an important amount of work, and consequently, it is possible to find high performance solvers for a wide variety of hardware platforms. In this work, we aim to develop a high performance and energy-efficient linear system solver. In particular, we develop two solvers for a low-power CPU-GPU platform, the NVIDIA Jetson TK1. These solvers implement the Gauss-Huard algorithm yielding an efficient usage of the target hardware as well as an efficient memory access. The experimental evaluation shows that the novel proposal reports important savings in both time and energy-consumption when compared with the state-of-the-art solvers of the platform.

Analysis of the impact of stationary energy storage systems in trolleybus grids using Simulink-based modelling

The voltage profile of the catenary between traction substations (TSSs) is affected by the trolleybus current intake and by its position with respect to the TSSs: the higher the current requested by the bus and the further the bus from the TSSs, the deeper the voltage drop. When the voltage drops below 500V, the trolleybus is forced to decrease its consumption by reducing its input current. This thesis deals with the analysis of the improvements that the installation of an BESS produces in the operation of a particularly loaded FS of the DC trolleybus network of the city of Bologna. The stationary BESS is charged by the TSSs during off-peak times and delivers the stored energy when the catenary is overloaded alleviating the load on the TSSs and reducing the voltage drops. Only IMC buses are considered in the prospect of a future disposal of all internal combustion engine vehicles. These trolleybuses cause deeper voltage drops because they absorb enough current to power their traction motor and recharge the on board battery. The control of the BESS aims to keep the catenary voltage within the admissible voltage range and makes sure that all physical limitations are met. A model of FS Marconi Trento Trieste is implemented in Simulink environment to simulate its daily operation and compare the behavior of the trolleybus network with and without BESS. From the simulation without BESS, the best location of the energy storage system is deduced, and the battery control is tuned. Furthermore, from the knowledge of the load curve and the battery control trans-characteristic, it is formulated a prediction of the voltage distribution at BESS connection point. The prediction is then compared with the simulation results to validate the Simulink model. The BESS allows to decrease the voltage drops along the catenary, the Joule losses and the current delivered by the TSSs, indicating that the BESS can be a solution to improve the operation of the trolleybus network.

Significance Of Product Type And Brand In The Purchasing Behaviour Of Cattle Feeds: An Empirical Study In Kerala

Cattle feed industry is a major segment of animal feed industry. This industry is gradually evolving into an organized sector and the feed manufactures are increasingly using modern and sophisticated methods that seek to incorporate best global practices. This industry has got high potential for growth in India, given the fact that the country is the world’s leading producer of milk and its production is expected to grow at a compounded annual growth rate of 4 per cent. Besides, the concept of branded cattle feed as a packaged commodity is fast gaining popularity in rural India. There can be a positive change in the demand for cattle feed because of factors like (i) shrinkage of open land for cattle grazing, urbanization and resultant shortage of conventionally used cattle feeds, and (ii) introduction of high yield cattle requires specialized feeds. Earlier research studies done by the present authors have revealed the significant growth prospects of the branded cattle feed industry, the feed consumption pattern and the relatively high share of branded feeds, feed consumption pattern based on product types (like, pellet and mash), composition of cattle feed market and the relatively large shares of Kerala Feeds Ltd. (KFL) and Kerala Solvent Extractions Ltd. (KSE) brands, the major factors influencing the purchasing decisions etc. As a continuation of the earlier studies, this study makes a closer look into the significance of product types in the buyer behavior, level of awareness about the brand and its implications on purchasing decisions, and the brandshifting behavior and its determinants

Vascular Pattern In Enchondroma And Chondrosarcoma: Clinical And Immunohistologic Study.

Although cartilaginous tumors have low microvascular density, vessels are important for the provision of nutrition so that the tumor can grow and generate metastasis. The aim of this study was to assess the value of the vascular pattern classification as a prognostic tool in chondrosarcomas (CSs) and its relation with vascular endothelial growth factor (VEGF) expression. This was a retrospective study of 21 enchondromas and 57 conventional CSs. Clinical data and outcome were retrieved from medical files. CSs histologic grades (on a scale of 1 to 3) were determined according to the World Health Organization classification. The vascular pattern (on a scale of A to C) was assessed through CD34, according to Kalinski. CD105 and VEGF were also evaluated. Poor outcome was significantly associated with vascular pattern groups B and C. Higher vascular pattern were 6.5 times more frequent in moderate-grade and high-grade CSs than in grade 1 CS. On multivariate analysis, a clear correlation was found between VEGF overexpression and B/C vascular patterns. Only 18 (benign and malignant) tumors stained for CD105. The results point to the use of the vascular pattern classification as a prognostic tool in CSs and to differentiate low-grade from moderate-grade/high-grade CSs. Vascular pattern might be also used to complement histologic grade, VEGF immunostaining, and microvascular density, for indicating a patient's prognosis. Low-grade CSs develop under low neoangiogenesis, which conforms to the slow growth rate of these tumors.

Primary Relapse Site Pattern In Women With Triple-negative Breast Cancer.

Despite the remarkable improvements in breast cancer (BC) characterization, accurate prediction of BC clinical behavior is often still difficult to achieve. Some studies have investigated the association between the molecular subtype, namely the basal-like BC and the pattern of relapse, however only few investigated the association between relapse pattern and immunohistochemical defined triple-negative breast cancers (TNBCs). The aim of this study was to evaluate the pattern of relapse in patients with TNBC, namely the primary distant relapse site. One-hundred twenty nine (129) invasive breast carcinomas with follow-up information were classified according to the molecular subtype using immunohistochemistry for ER, PgR and Her2. The association between TNBC and distant relapse primary site was analyzed by logistic regression. Using multivariate logistic regression analysis patients with TNBC displayed only 0.09 (95% CI: 0.00-0.74; p=0.02) the odds of the non-TNBC patients of developing bone primary relapse. Regarding visceral and lymph-node relapse, no differences between in this cohort were found. Though classically regarded as aggressive tumors, TNBCs rarely development primary relapse in bone when compared to non-TNBC, a clinical relevant fact when investigating a metastasis of an occult or non-sampled primary BC.

The Role Of Edaphic Environment And Climate In Structuring Phylogenetic Pattern In Seasonally Dry Tropical Plant Communities.

Seasonally dry tropical plant formations (SDTF) are likely to exhibit phylogenetic clustering owing to niche conservatism driven by a strong environmental filter (water stress), but heterogeneous edaphic environments and life histories may result in heterogeneity in degree of phylogenetic clustering. We investigated phylogenetic patterns across ecological gradients related to water availability (edaphic environment and climate) in the Caatinga, a SDTF in Brazil. Caatinga is characterized by semiarid climate and three distinct edaphic environments - sedimentary, crystalline, and inselberg -representing a decreasing gradient in soil water availability. We used two measures of phylogenetic diversity: Net Relatedness Index based on the entire phylogeny among species present in a site, reflecting long-term diversification; and Nearest Taxon Index based on the tips of the phylogeny, reflecting more recent diversification. We also evaluated woody species in contrast to herbaceous species. The main climatic variable influencing phylogenetic pattern was precipitation in the driest quarter, particularly for herbaceous species, suggesting that environmental filtering related to minimal periods of precipitation is an important driver of Caatinga biodiversity, as one might expect for a SDTF. Woody species tended to show phylogenetic clustering whereas herbaceous species tended towards phylogenetic overdispersion. We also found phylogenetic clustering in two edaphic environments (sedimentary and crystalline) in contrast to phylogenetic overdispersion in the third (inselberg). We conclude that while niche conservatism is evident in phylogenetic clustering in the Caatinga, this is not a universal pattern likely due to heterogeneity in the degree of realized environmental filtering across edaphic environments. Thus, SDTF, in spite of a strong shared environmental filter, are potentially heterogeneous in phylogenetic structuring. Our results support the need for scientifically informed conservation strategies in the Caatinga and other SDTF regions that have not previously been prioritized for conservation in order to take into account this heterogeneity.

Kinetic energy sum spectra in nonmesonic weak decay of hypernuclei

We evaluate the coincidence spectra in the nonmesonic weak decay (NMWD) Lambda N -> nN of Lambda hypernuclei (4)(Lambda)He, (5)(Lambda)He, (12)(Lambda)C, (16)(Lambda)O, and (28)(Lambda)Si, as a function of the sum of kinetic energies E(nN)=E(n)+E(N) for N=n,p. The strangeness-changing transition potential is described by the one-meson-exchange model, with commonly used parametrization. Two versions of the independent-particle shell model (IPSM) are employed to account for the nuclear structure of the final residual nuclei. They are as follows: (a) IPSM-a, where no correlation, except for the Pauli principle, is taken into account and (b) IPSM-b, where the highly excited hole states are considered to be quasistationary and are described by Breit-Wigner distributions, whose widths are estimated from the experimental data. All np and nn spectra exhibit a series of peaks in the energy interval 110 MeV < E(nN)< 170 MeV, one for each occupied shell-model state. Within the IPSM-a, and because of the recoil effect, each peak covers an energy interval proportional to A(-1) , going from congruent to 4 MeV for (28)(Lambda)Si to congruent to 40 MeV for (4)(Lambda)He. Such a description could be pretty fair for the light (4)(Lambda)He and (5)(Lambda)He hypernuclei. For the remaining, heavier, hypernuclei it is very important, however, to consider as well the spreading in strength of the deep-hole states and bring into play the IPSM-b approach. Notwithstanding the nuclear model that is employed the results depend only very weakly on the details of the dynamics involved in the decay process proper. We propose that the IPSM is the appropriate lowest-order approximation for the theoretical calculations of the of kinetic energy sum spectra in the NMWD. It is in comparison to this picture that one should appraise the effects of the final-state interactions and of the two-nucleon-induced decay mode.

Increase in the magnitude of the energy barrier distribution in Ni nanoparticles due to dipolar interactions

The energy barrier distribution E(b) of five samples with different concentrations x of Ni nanoparticles using scaling plots from ac magnetic susceptibility data has been determined. The scaling of the imaginary part of the susceptibility chi""(v, T) versus T ln (iota t/tau(0)) remains valid for all samples, which display Ni nanoparticles with similar shape and size. The mean value < E(b)> increases appreciably with increasing x, or more appropriately with increasing dipolar interactions between Ni nanoparticles. We argue that such an increase in < E(b)> constitutes a powerful tool for quality control in magnetic recording media technology where the dipolar interaction plays an important role. (c) 2011 American Institute of Physics. [doi: 10.1063/1.3533911]

Splitting of the zero-energy edge states in bilayer graphene

Bilayer graphene nanoribbons with zigzag termination are studied within the tight-binding model. We also include single-site electron-electron interactions via the Hubbard model within the unrestricted Hartree-Fock approach. We show that either the interactions between the outermost edge atoms or the presence of a magnetic order can cause a splitting of the zero-energy edge states. Two kinds of edge alignments are considered. For one kind of edge alignment (?) the system is nonmagnetic unless the Hubbard parameter U becomes greater than a critical value Uc. For the other kind of edge alignment (?) the system is magnetic for any U>0. Our results agree very well with ab initio density functional theory calculations.

Unusual magneto-optical phenomenon reveals low energy spin dispersion in the spin-1 anisotropic Heisenberg antiferromagnetic chain system NiCl(2)-4SC(NH(2))(2)

Electron paramagnetic resonance measurements of NiCl(2)-4SC(NH(2))(2) reveal the low-energy spin dispersion, including a magnetic-field interval in which the two-magnon continuum is within k(B)T of the ground state, allowing a continuum of excitations over a range of k states, rather than only the k=0 single-magnon excitations. This produces a novel Y shape in the frequency-field EPR spectrum measured at T >= 1.5 K. Since the interchain coupling J(perpendicular to)< k(B)T, this shape can be reproduced by a single S=1 antiferromagnetic Heisenberg chain with a strong easy-plane single-ion anisotropy. Importantly, the combination of experiment and modeling we report herein demonstrates a powerful approach to probing spin dispersion in a wide range of interacting magnetic systems without the stringent sample requirements and complications associated with inelastic scattering experiments.

One-loop energy-momentum tensor in QED with electriclike background

We have obtained nonperturbative one-loop expressions for the mean-energy-momentum tensor and current density of Dirac's field on a constant electriclike back-round. One of the goals of this calculation is to give a consistent description of backreaction in such a theory. Two cases of initial states are considered: the vacuum state and the thermal equilibrium state. First, we perform calculations for the vacuum initial state. In the obtained expressions, we separate the contributions due to particle creation and vacuum polarization. The latter contribution,, are related to the Heisenberg-Euler Lagrangian. Then, we Study the case of the thermal initial state. Here, we separate the contributions due to particle creation, vacuum polarization, and the contributions due to the work of the external field on the particles at the initial state. All these contributions are studied in detail, in different regimes of weak and strong fields and low and high temperatures. The obtained results allow us to establish restrictions on the electric field and its duration under which QED with a strong constant electric field is consistent. Under such restrictions, one can neglect the backreaction of particles created by the electric field. Some of the obtained results generalize the calculations of Heisenberg-Euler for energy density to the case of arbitrary strong electric fields.