Polytechnic University of Turin

About: Polytechnic University of Turin is a education organization based out in Turin, Piemonte, Italy. It is known for research contribution in the topics: Finite element method & Nonlinear system. The organization has 11553 authors who have published 41395 publications receiving 789320 citations. The organization is also known as: POLITO & Politecnico di Torino.

Review article: locomotion systems for ground mobile robots in unstructured environments

Abstract: . The world market of mobile robotics is expected to increase substantially in the next 20 yr, surpassing the market of industrial robotics in terms of units and sales. Important fields of application are homeland security, surveillance, demining, reconnaissance in dangerous situations, and agriculture. The design of the locomotion systems of mobile robots for unstructured environments is generally complex, particularly when they are required to move on uneven or soft terrains, or to climb obstacles. This paper sets out to analyse the state-of-the-art of locomotion mechanisms for ground mobile robots, focussing on solutions for unstructured environments, in order to help designers to select the optimal solution for specific operating requirements. The three main categories of locomotion systems (wheeled – W, tracked – T and legged – L) and the four hybrid categories that can be derived by combining these main locomotion systems are discussed with reference to maximum speed, obstacle-crossing capability, step/stair climbing capability, slope climbing capability, walking capability on soft terrains, walking capability on uneven terrains, energy efficiency, mechanical complexity, control complexity and technology readiness. The current and future trends of mobile robotics are also outlined.

Novel Multidimensional Models of Opinion Dynamics in Social Networks

Abstract: Unlike many complex networks studied in the literature, social networks rarely exhibit unanimous behavior, or consensus . This requires a development of mathematical models that are sufficiently simple to be examined and capture, at the same time, the complex behavior of real social groups, where opinions and actions related to them may form clusters of different size. One such model, proposed by Friedkin and Johnsen, extends the idea of conventional consensus algorithm (also referred to as the iterative opinion pooling) to take into account the actors’ prejudices, caused by some exogenous factors and leading to disagreement in the final opinions. In this paper, we offer a novel multidimensional extension, describing the evolution of the agents’ opinions on several topics. Unlike the existing models, these topics are interdependent, and hence the opinions being formed on these topics are also mutually dependent. We rigorously examine stability properties of the proposed model, in particular, convergence of the agents’ opinions. Although our model assumes synchronous communication among the agents, we show that the same final opinions may be reached “on average” via asynchronous gossip-based protocols.

Cascading Failure Analysis Considering Interaction Between Power Grids and Communication Networks

Abstract: This paper aims to model interdependencies between power systems and dispatching data networks, and to analyze the intricate impacts on cascading failures. The functions of communication networks are embedded into dispatching data networks in China, thus we use dispatching data networks in the paper. The structures of dispatching data networks are generally categorized into two types: 1) double-star; and 2) mesh. The correlation of nodes in double-star networks and power systems is “degree to degree,” whereas “degree to betweenness” is the correlation for mesh networks. Furthermore, the interactive model between power grids and dispatching data networks is presented by a dynamic power flow model. Taking the IEEE 39-bus system and China’s Guangdong 500-kV system as examples, in the case of random attacks on the interdependent system, simulation results show that the power grid coupled with double-star dispatching data networks has lower probability of catastrophic failures than with the mesh structure, because the double-star dispatching data network has outstanding capability of delivering information even though some communication nodes are out of order. In contrast, under intentional attacks, the decrement of the transmission performance of the double-star network is more serious than that in the mesh network. Therefore, the power system exhibits much higher vulnerability when coupled with the double-star network.

Atlas of the muscle motor points for the lower limb: implications for electrical stimulation procedures and electrode positioning

Abstract: The aim of the study was to investigate the uniformity of the muscle motor point location for lower limb muscles in healthy subjects. Fifty-three subjects of both genders (age range: 18–50 years) were recruited. The muscle motor points were identified for the following ten muscles of the lower limb (dominant side): vastus medialis, rectus femoris, and vastus lateralis of the quadriceps femoris, biceps femoris, semitendinosus, and semimembranosus of the hamstring muscles, tibialis anterior, peroneus longus, lateral and medial gastrocnemius. The muscle motor point was identified by scanning the skin surface with a stimulation pen electrode and corresponded to the location of the skin area above the muscle in which an electrical pulse evoked a muscle twitch with the least injected current. For each investigated muscle, 0.15 ms square pulses were delivered through the pen electrode at low current amplitude (<10 mA) and frequency (2 Hz). 16 motor points were identified in the 10 investigated muscles of almost all subjects: 3 motor points for the vastus lateralis, 2 motor points for rectus femoris, vastus medialis, biceps femoris, and tibialis anterior, 1 motor point for the remaining muscles. An important inter-individual variability was observed for the position of the following 4 out of 16 motor points: vastus lateralis (proximal), biceps femoris (short head), semimembranosus, and medial gastrocnemius. Possible implications for electrical stimulation procedures and electrode positioning different from those commonly applied for thigh and leg muscles are discussed.