Search

Este artículo se encuentra disponible en la siguiente URL: https://www.mdpi.com/1424-8220/21/12/3943 Este artículo de investigación pertenece al número especial "Autonomous Navigation in Robotics: A New Challenge towards Social Robots". This paper presents a real-time global path planning method for mobile robots using harmonic functions, such as the Poisson equation, based on the Proper Generalized Decomposition (PGD) of these functions. The main property of the proposed technique is that the computational cost is negligible in real-time, even if the robot is disturbed or the goal is changed. The main idea of the method is the off-line generation, for a given environment, of the whole set of paths from any start and goal configurations of a mobile robot, namely the computational vademecum, derived from a harmonic potential field in order to use it on-line for decision-making purposes. Up until now, the resolution of the Laplace or Poisson equations has been based on traditional numerical techniques unfeasible for real-time calculation. This drawback has prevented the extensive use of harmonic functions in autonomous navigation, despite their powerful properties. The numerical technique that reverses this situation is the Proper Generalized Decomposition. To demonstrate and validate the properties of the PGD-vademecum in a potential-guided path planning framework, both real and simulated implementations have been developed. Simulated scenarios, such as an L-Shaped corridor and a benchmark bug trap, are used, and a real navigation of a LEGO®MINDSTORMS robot running in static environments with variable start and goal configurations is shown. This device has been selected due to its computational and memory-restricted capabilities, and it is a good example of how its properties could help the development of social robots.

International audience; The condition monitoring of induction motors (IM), is an important concern for industry due to the widespread use of these machines. Magnetic Flux Analysis, has been proven to be a reliable method of diagnosing these motors. Among the IM types, squirrel-cage motors (SCIM) are one of the most commonly used. In many industrial applications, the IM are driven by different types of starters, quite often by soft-starters. Despite rotor damages are more prone to occur in line-started motors, these kind of failures have been also reported in those ones driven by soft-starters. Related to this, the use of these type of starters may introduce some harmonic components, that could veil the magnetic flux signature of the different rotor faults. So, the aim of this study is to confirm if the Stray Flux Analysis technique maintains its reliability in these cases. Thus, this article presents the results of soft-started induction motors start-up tests, both in healthy and faulty motors. The fault components are detected by analyzing the stray flux during the starting and the study is complemented by analyzing the stray flux during the steady-state. In addition to the failure patterns, numerical indicators have been found so the identification of the failures is not only qualitative, but also quantitative. The results confirm the potential of the technique for detecting electromechanical failures in soft-started SCIMs.

This work deals with the design of a high sensitivity DNA sequence detector using a 50 MHz quartz crystal microbalance (QCM) electronic oscillator circuit. The oscillator circuitry is based on Miller topology, which is able to work in damping media. Calibration and experimental study of frequency noise are carried out, finding that the designed sensor has a resolution of 7.1 ng/cm 2 in dynamic conditions (with circulation of liquid). Then the oscillator is proved as DNA biosensor. Results show that the system is able to detect the presence of complementary target DNAs in a solution with high selectivity and sensitivity. DNA target concentrations higher of 50 ng/mL can be detected. © 2011 by the authors; licensee MDPI, Basel, Switzerland., ANR PRECODD (HAB SEACHIP) and Erasmus Program (European Union) are gratefully acknowledged for financially supporting this research.