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3. Multi-stage warm started optimal motion planning for over-actuated mobile platforms

Author

Paz-Delgado, G. J., Pérez-del-Pulgar, C. J., Azkarate, M., Kirchner, F., and García-Cerezo, A.

Subjects
Computer Science - Robotics, Electrical Engineering and Systems Science - Systems and Control
Abstract

This work presents a computationally lightweight motion planner for over-actuated platforms. For this purpose, a general state-space model for mobile platforms with several kinematic chains is defined, which considers non-linearities and constraints. The proposed motion planner is based on a sequential multi-stage approach that takes advantage of the warm start on each step. Firstly, a globally optimal and smooth 2D/3D trajectory is generated using the Fast Marching Method. This trajectory is fed as a warm start to a sequential linear quadratic regulator that is able to generate an optimal motion plan without constraints for all the platform actuators. Finally, a feasible motion plan is generated considering the constraints defined in the model. In this respect, the sequential linear quadratic regulator is employed again, taking the previously generated unconstrained motion plan as a warm start. This novel approach has been deployed into the Exomars Testing Rover of the European Space Agency. This rover is an Ackermann-capable planetary exploration testbed that is equipped with a robotic arm. Several experiments were carried out demonstrating that the proposed approach speeds up the computation time, increasing the success ratio for a martian sample retrieval mission, which can be considered as a representative use case of an over-actuated mobile platform.

Published
2022
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14. 700,000 years of tropical Andean glaciation

Author

Rodbell, D. T., Hatfield, R. G., Abbott, M. B., Chen, C. Y., Woods, A., Stoner, J. S., McGee, D., Tapia, P. M., Bush, M., Valero-Garcés, B. L., Lehmann, S. B., Mark, S. Z., Weidhaas, N. C., Hillman, A. L., Larsen, D. J., Delgado, G., Katz, S. A., Solada, K. E., Morey, A. E., Finkenbinder, M., Valencia, B., Rozas-Davila, A., Wattrus, N., Colman, S. M., Bustamante, M. G., Kück, J., and Pierdominici, S.

Published
2022
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16. Effects of Rapid Heat Treatments on the Properties of Cu2O Thin Films Deposited at Room Temperature Using an Ammonia-Free SILAR Technique.

Author

Trinidad-Urbina, R. E., Castanedo-Pérez, R., Torres-Delgado, G., Sánchez-Martínez, A., and Ramírez-Bon, R.

Subjects
RAPID thermal processing, THIN film deposition, QUANTUM confinement effects, THIN films, THIN films analysis
Abstract

We report herein the analysis of the properties of copper(I) oxide thin films deposited by an optimized ammonium-free successive ion layer adsorption and reaction (SILAR) technique. The Cu2O thin film deposition process was carried out at room temperature using copper acetate monohydrate, sodium citrate as complexing agent, and hydrogen peroxide as precursors of copper and oxygen ions, respectively. The harmless and easy-to-handle sodium citrate replaces the volatile NH4OH commonly employed as complexing agent in the SILAR technique for the deposition of metal oxide thin films. The optical, structural, morphological, and electrical properties of the as-deposited Cu2O thin films were studied as a function of the number of cycles during deposition, as well as their modifications produced by the effect of rapid thermal annealing (RTA) in vacuum in a temperature range of 200–250°C for 1 min, 3 min, and 5 min. The as-deposited thin films had cubic crystalline structure corresponding to the Cu2O phase as determined by x-ray diffraction (XRD), with a direct energy bandgap of 2.43–2.51 eV depending on the number of cycles, and electrical resistivity of the order of 103 Ω cm. The XRD and x-ray photoelectron spectroscopy (XPS) analysis of the Cu2O thin films treated by RTA demonstrated an increase of the crystal size with time and temperature of the RTA and reduction effects from Cu2+ to Cu1+ oxidation states. On the other hand, the RTA treatments also decreased their energy bandgap to 2.38 eV and electrical resistivity to 102 Ω cm. The high energy bandgap values of the Cu2O thin films were attributed to quantum confinement effects produced by their small crystal size in the range of 3.6–8.6 nm. [ABSTRACT FROM AUTHOR]

Published
2024
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17. Measuring Surfaces in Orthophotos Based in Color Segmentation Using K-means

Author

Enriquez, F., Delgado, G., Arbito, F., Cabrera, A., Iturralde, D., Kacprzyk, Janusz, Series Editor, Pal, Nikhil R., Advisory Editor, Bello Perez, Rafael, Advisory Editor, Corchado, Emilio S., Advisory Editor, Hagras, Hani, Advisory Editor, Kóczy, László T., Advisory Editor, Kreinovich, Vladik, Advisory Editor, Lin, Chin-Teng, Advisory Editor, Lu, Jie, Advisory Editor, Melin, Patricia, Advisory Editor, Nedjah, Nadia, Advisory Editor, Nguyen, Ngoc Thanh, Advisory Editor, Wang, Jun, Advisory Editor, Botto-Tobar, Miguel, editor, León-Acurio, Joffre, editor, Díaz Cadena, Angela, editor, and Montiel Díaz, Práxedes, editor

Published
2020
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22. Sequence alignments and phylogenetic tree for Halocryptovalsa endophytica

Author

Delgado, G., Nau, T., Maciá-Vicente, J.G., Delgado, G., Nau, T., and Maciá-Vicente, J.G.

Abstract

Sequence alignments and phylogenetic tree for Halocryptovalsa endophytica - Fungal Planet 1514 - 29 June 2023, Sequence alignments and phylogenetic tree for Halocryptovalsa endophytica - Fungal Planet 1514 - 29 June 2023

Published
2024

23. Fungal Planet description sheets: 1614-1696

Author

Crous, P.W., Jurjević, Ž., Balashov, S., De la Peña-Lastra, S., Mateos, A., Pinruan, U., Rigueiro-Rodríguez, A., Osiek, E.R., Altés, A., Czachura, P., Esteve-Raventós, F., Gunaseelan, S., Kaliyaperumal, M., Larsson, E., Luangsa-ard, J.J., Moreno, G., Pancorbo, F., Piątek, M., Sommai, S., Somrithipol, S., Asif, M., Delgado, G., Flakus, A., Illescas, A., Kezo, K., Khamsuntorn, P., Kubátová, A., Labuda, R., Lavoise, C., Lebel, T., Lueangjaroenkit, P., Maciá-Vicente, J.G., Paz, A., Saba, M., Shivas, R.G., Tan, Y.P., Wingfield, M.J., Aas, T., Abramczyk, B., Ainsworth, A.M., Akulov, A., Alvarado, P., Armada, F., Assyov, B., Avchar, R., Avesani, M., Bezerra, J.L., Bhat, J.D., Bilański, P., Bily, D.S., Boccardo, F., Bozok, F., Campos, J.C., Chaimongkol, S., Chellappan, N., Costa, M.M., Dalecká, M., Darmostuk, V., Daskalopoulos, V., Dearnaley, J., Dentinger, B.T.M., De Silva, N.I., Dhotre, D., Carlavilla, J.R., Doungsa-ard, C., Dovana, F., Erhard, A., Ferro, L.O., Gallegos, S.C., Giles, C.E., Gore, G., Gorfer, M., Guard, F.E., Hanson, S.-Å., Haridev, P., Jankowiak, R., Jeffers, S.N., Kandemir, H., Karich, A., Kisło, K., Kiss, L., Krisai-Greilhuber, I., Latha, K.P.D., Lorenzini, M., Lumyong, S., Manimohan, P., Manjón, J.L., Maula, F., Mazur, E., Mesquita, N.L.S., Młynek, K., Mongkolsamrit, S., Morán, P., Murugadoss, R., Nagarajan, M., Nalumpang, S., Noisripoom, W., Nosalj, S., Novaes, Q.S., Nowak, M., Pawłowska, J., Peiger, M., Pereira, O.L., Pinto, A., Plaza, M., Polemis, E., Polhorský, A., Ramos, D.O., Raza, M., Rivas-Ferreiro, M., Rodrigues-Flakus, P., Ruszkiewicz-Michalska, M., Sánchez, A., Santos, A., Schüller, A., Scott, P.A., Şen, İ, Shelke, D., Śliwa, L., Solheim, H., Sonawane, H., Strašiftáková, D., Stryjak-Bogacka, M., Sudsanguan, M., Suwannarach, N., Suz, L.M., Syme, K., Taşkın, H., Tennakoon, D.S., Tomka, P., Vaghefi, N., Vasan, V., Vauras, J., Wiktorowicz, D., Villarreal, M., Vizzini, A., Wrzosek, M., Yang, X., Yingkunchao, W., Zapparoli, G., Zervakis, G.I., Groenewald, J.Z., Crous, P.W., Jurjević, Ž., Balashov, S., De la Peña-Lastra, S., Mateos, A., Pinruan, U., Rigueiro-Rodríguez, A., Osiek, E.R., Altés, A., Czachura, P., Esteve-Raventós, F., Gunaseelan, S., Kaliyaperumal, M., Larsson, E., Luangsa-ard, J.J., Moreno, G., Pancorbo, F., Piątek, M., Sommai, S., Somrithipol, S., Asif, M., Delgado, G., Flakus, A., Illescas, A., Kezo, K., Khamsuntorn, P., Kubátová, A., Labuda, R., Lavoise, C., Lebel, T., Lueangjaroenkit, P., Maciá-Vicente, J.G., Paz, A., Saba, M., Shivas, R.G., Tan, Y.P., Wingfield, M.J., Aas, T., Abramczyk, B., Ainsworth, A.M., Akulov, A., Alvarado, P., Armada, F., Assyov, B., Avchar, R., Avesani, M., Bezerra, J.L., Bhat, J.D., Bilański, P., Bily, D.S., Boccardo, F., Bozok, F., Campos, J.C., Chaimongkol, S., Chellappan, N., Costa, M.M., Dalecká, M., Darmostuk, V., Daskalopoulos, V., Dearnaley, J., Dentinger, B.T.M., De Silva, N.I., Dhotre, D., Carlavilla, J.R., Doungsa-ard, C., Dovana, F., Erhard, A., Ferro, L.O., Gallegos, S.C., Giles, C.E., Gore, G., Gorfer, M., Guard, F.E., Hanson, S.-Å., Haridev, P., Jankowiak, R., Jeffers, S.N., Kandemir, H., Karich, A., Kisło, K., Kiss, L., Krisai-Greilhuber, I., Latha, K.P.D., Lorenzini, M., Lumyong, S., Manimohan, P., Manjón, J.L., Maula, F., Mazur, E., Mesquita, N.L.S., Młynek, K., Mongkolsamrit, S., Morán, P., Murugadoss, R., Nagarajan, M., Nalumpang, S., Noisripoom, W., Nosalj, S., Novaes, Q.S., Nowak, M., Pawłowska, J., Peiger, M., Pereira, O.L., Pinto, A., Plaza, M., Polemis, E., Polhorský, A., Ramos, D.O., Raza, M., Rivas-Ferreiro, M., Rodrigues-Flakus, P., Ruszkiewicz-Michalska, M., Sánchez, A., Santos, A., Schüller, A., Scott, P.A., Şen, İ, Shelke, D., Śliwa, L., Solheim, H., Sonawane, H., Strašiftáková, D., Stryjak-Bogacka, M., Sudsanguan, M., Suwannarach, N., Suz, L.M., Syme, K., Taşkın, H., Tennakoon, D.S., Tomka, P., Vaghefi, N., Vasan, V., Vauras, J., Wiktorowicz, D., Villarreal, M., Vizzini, A., Wrzosek, M., Yang, X., Yingkunchao, W., Zapparoli, G., Zervakis, G.I., and Groenewald, J.Z.

Abstract

Novel species of fungi described in this study include those from various countries as follows: Australia, Baobabopsis sabindy in leaves of Eragrostis spartinoides, Cortinarius magentiguttatus among deep leaf litter, Laurobasidium azarandamiae from uredinium of Puccinia alyxiae on Alyxia buxifolia, Marasmius pseudoelegans on well-rotted twigs and litter in mixed wet sclerophyll and subtropical rainforest. Bolivia, Favolaschia luminosa on twigs of Byttneria hirsuta, Lecanora thorstenii on bark, in savannas with shrubs and trees. Brazil, Asterina costamaiae on leaves of Rourea bahiensis, Purimyces orchidacearum (incl. Purimyces gen. nov.) as root endophyte on Cattleya locatellii. Bulgaria, Monosporascus bulgaricus and Monosporascus europaeus isolated from surface-sterilised, asymptomatic roots of Microthlaspi perfoliatum. Finland, Inocybe undatolacera on a lawn, near Betula pendula. France, Inocybe querciphila in humus of mixed forest. Germany, Arrhenia oblongispora on bare soil attached to debris of herbaceous plants and grasses. Greece, Tuber aereum under Quercus coccifera and Acer sempervirens. India, Alfoldia lenyadriensis from the gut of a Platynotus sp. beetle, Fulvifomes subramanianii on living Albizzia amara, Inosperma pavithrum on soil, Phylloporia parvateya on living Lonicera sp., Tropicoporus maritimus on living Peltophorum pterocarpum. Indonesia, Elsinoe atypica on leaf of Eucalyptus pellita. Italy, Apiotrichum vineum from grape wine, Cuphopyllus praecox among grass. Madagascar, Pisolithus madagascariensis on soil under Intsia bijuga. Netherlands, Cytosporella calamagrostidis and Periconia calamagrostidicola on old leaves of Calamagrostis arenaria, Hyaloscypha caricicola on leaves of Carex sp., Neoniesslia phragmiticola (incl. Neoniesslia gen. nov.) on leaf sheaths of standing dead culms of Phragmites australis, Neptunomyces juncicola on culms of Juncus maritimus, Zenophaeosphaeria calamagrostidis (incl. Zenophaeosphaeria gen. nov.) on culms of Calamagrost

Published
2024

24. Precipitation Stripping of V(V) as a Novel Approach for the Preparation of Two-Dimensional Transition Metal Vanadates

Author

Guadalupe Sánchez-Loredo, M., Chekhonin, P., (0009-0001-0426-9774) Ebert, D., Fischer, U., Liu, X., (0000-0002-2583-6889) Möckel, R., Judith Labrada-Delgado, G., Passerini, S., (0000-0001-9950-9189) Kelly, N., Guadalupe Sánchez-Loredo, M., Chekhonin, P., (0009-0001-0426-9774) Ebert, D., Fischer, U., Liu, X., (0000-0002-2583-6889) Möckel, R., Judith Labrada-Delgado, G., Passerini, S., and (0000-0001-9950-9189) Kelly, N.

Abstract

Cobalt, nickel, manganese and zinc vanadates were synthesized by a hydrometallurgical two-phases method. The extraction of vanadium(V) ions from alkaline solution using Aliquat®336 was followed by the production of metal vanadates through precipitation stripping. Precipitation stripping was carried out using solutions of the corresponding metal ions (Ni(II), Co(II), Mn(II) and Zn(II), 0.05 mol/L in 4 mol/L NaCl), and the addition time of the strip solution was varied (0, 1 and 2 h). The time-dependent experiments showed a notorius influence on the composition, structure, morphology and crystallinity of the two-dimensional vanadate products. Inspired by these findings, we selected two metallic vanadate products and studied their properties as alternative cathode materials for nonaqueous sodium and lithium metal batteries.

Published
2024

39. Acquisition of a signed phonological system by hearing adults : the role of sign structure and iconcity

Author

Ortega-Delgado, G.

Subjects
419
Abstract

The phonological system of a sign language comprises meaningless sub-lexical units that define the structure of a sign. A number of studies have examined how learners of a sign language as a first language (L1) acquire these components. However, little is understood about the mechanism by which hearing adults develop visual phonological categories when learning a sign language as a second language (L2). Developmental studies have shown that sign complexity and iconicity, the clear mapping between the form of a sign and its referent, shape in different ways the order of emergence of a visual phonology. The aim of the present dissertation was to investigate how these two factors affect the development of a visual phonology in hearing adults learning a sign language as L2. The empirical data gathered in this dissertation confirms that sign structure and iconicity are important factors that determine L2 phonological development. Non-signers perform better at discriminating the contrastive features of phonologically simple signs than signs with multiple elements. Handshape was the parameter most difficult to learn, followed by movement, then orientation and finally location which is the same order of acquisition reported in L1 sign acquisition. In addition, the ability to access the iconic properties of signs had a detrimental effect in phonological development because iconic signs were consistently articulated less accurately than arbitrary signs. Participants tended to retain the iconic elements of signs but disregarded their exact phonetic structure. Further, non-signers appeared to process iconic signs as iconic gestures at least at the early stages of sign language acquisition. The empirical data presented in this dissertation suggest that non-signers exploit their gestural system as scaffolding of the new manual linguistic system and that sign L2 phonological development is strongly influenced by the structural complexity of a sign and its degree of iconicity.

Published
2013

44. Regeneration dynamics in the laurel forest: changes in species richness and composition

Author

Arévalo JR, De Nascimento L, Fernández-Lugo S, Méndez J, González-Delgado G, Balguerías E, Gomes Pereira CE, and Fernández-Palacios JM

Subjects
Conservation, Evenness, Regeneration, Seedling Bank, Species Composition, Forestry, SD1-669.5
Abstract

The recovery and survival of the Macaronesian laurel forest depends on its regeneration strategies. After years of long-term monitoring, both sexual and asexual regeneration appear to be equally important. However, the mechanisms for each are just beginning to be understood. In order to contribute to the understanding of the laurel forest sexual regeneration, we analyzed the species composition of the seedling bank every two weeks over three years in the laurel forest of Anaga (Tenerife, Canary Islands). We compared the species compositions of the seedling bank with the canopy, and analyzed changes in their diversity over this period in different forest stands. We found that species diversity (evenness) is different among plots regardless of the stand. In some cases, plot diversity remained constant over time, while others showed some variations, which were little related to climatic conditions (temperature and precipitation). We also found no relationship between the seedling bank and canopy composition, with shade-intolerant species being more abundant in the former. Although climatic conditions remained constant during the period and other environmental conditions did not vary either, some changes were found in the seedling bank species composition. These were related to the increased degree of conservation of the laurel forest of Anaga (by closing unpaved roads, limiting access, and the abandonment of agriculture) that had negatively affected the density of shade-intolerant species. We suggest that such conservation measures should be maintained and extended to other areas where agriculture has been recently abandoned to allow the potential establishment of laurel forest and late successional species.

Published
2018
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48. Association of branched-chain amino acids with mortality risk in the Ludwigshafen Risk and Cardiovascular Health (LURIC) study

Author

Moissl, A., primary, Lorkowski, S., additional, Meinitzer, A., additional, Pilz, S., additional, Scharnagl, H., additional, Delgado, G., additional, Kleber, M., additional, Krämer, B., additional, Pieske, B., additional, Grübler, M., additional, Brussee, H., additional, Von Lewinski, D., additional, Toplak, H., additional, Fahrleitner-Pammer, A., additional, März, W., additional, and Tomaschitz, A., additional

Published
2023
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