Integrating Olfaction in a Robotic Telepresence Loop

In this work we propose enhancing a typical robotic telepresence architecture by considering olfactory and wind flow information in addition to the common audio and video channels. The objective is to expand the range of applications where robotics telepresence can be applied, including those related to the detection of volatile chemical substances (e.g. land-mine detection, explosive deactivation, operations in noxious environments, etc.). Concretely, we analyze how the sense of smell can be integrated in the telepresence loop, covering the digitization of the gases and wind flow present in the remote environment, the transmission through the communication network, and their display at the user location. Experiments under different environmental conditions are presented to validate the proposed telepresence system when localizing a gas emission leak at the remote environment.Universidad de Málaga. Campus de Excelencia Internacional Andalucía Tech

Analyzing interference between RGB-D cameras for human motion tracking

Multi-camera RGB-D systems are becoming popular as sensor setups in Computer Vision applications but they are prone to cause interference between them, compromising their accuracy. This paper extends previous works on the analysis of the noise introduced by interference with new and more realistic camera configurations and different brands of devices. As expected, the detected noise increases as distance and angle grows, becoming worse when interference is present. Finally, we evaluate the effectiveness of the proposed solutions of using DC vibration motors to mitigate them. The results of this study are being used to assess the effect of interference when applying these setups to human motion tracking.Universidad de Málaga. Campus de Excelencia Internacional Andalucía Tech. Plan Propio de Investigación de la UMA. Junta de Andalucía, proyecto TEP2012-53

Effects of stoichiometry on premixed flames propagating in narrow channels: symmetry-breaking bifurcations

Recent studies within the diffusive-thermal (constant-density) approximation have shown that, for premixed flames freely propagating in narrow adiabatic channels, the instabilities induced by differential diffusion may result in non-symmetric solutions and/or oscillating and rotating propagation modes. This has been shown in the context of lean mixtures, for which a single species transport equation with a single Lewis number (corresponding to the ratio of thermal to molecular diffusivity of the deficient reactant) can be used to describe the flame propagation problem. In the present work we extend the analysis to mixtures of any equivalence ratio. To this end, we consider a two-reactant model, where the different diffusivities of the two reactants introduce two different Lewis numbers. Steady-state computations and linear stability analysis are carried out for mixtures with large disparity between the Lewis number of the fuel (LeF) and the oxidizer (LeO), such as hydrogen-oxygen systems. It is shown that both differential diffusion and preferential diffusion have influence on the stability of the symmetric flame shape. For sufficiently lean and rich mixtures, the flame behaves as dictated by the Lewis number of the deficient reactant, i.e., the flame destabilizes toward non-symmetric solutions for large mass flow rates when the mentioned Lewis number is less than one. In near-stoichiometric mixtures the stability of the symmetric flame depends on a weighted average value of LeF and LeO. In particular, the symmetric solution is stable for large mass flow rates because of the difficulties found by the less diffusive reactant to reach the reactive zone of the flame.Comment: 17 pages, 9 figure

Semiempirical Modeling of Reset Transitions in Unipolar Resistive-Switching based Memristors

We have measured the transition process from the high to low resistivity states, i.e., the reset process of resistive switching based memristors based on Ni/HfO2/Si-n+ structures, and have also developed an analytical model for their electrical characteristics. When the characteristic curves are plotted in the current-voltage (I-V) domain a high variability is observed. In spite of that, when the same curves are plotted in the charge-flux domain (Q-phi), they can be described by a simple model containing only three parameters: the charge (Qrst) and the flux (rst) at the reset point, and an exponent, n, relating the charge and the flux before the reset transition. The three parameters can be easily extracted from the Q-phi plots. There is a strong correlation between these three parameters, the origin of which is still under study

Surface magnetism in ZnO/Co3O4 mixtures

We recently reported the observation of room temperature ferromagnetism in mixtures of ZnO and Co3O4 despite the diamagnetic and antiferromagnetic character of these oxides respectively. Here we present a detailed study on the electronic structure of this material in order to account for this unexpected ferromagnetism. Electrostatic interactions between both oxides lead to a dispersion of Co3O4 particles over the surface of ZnO larger ones. As a consequence, the reduction of Co+3 to Co2+ at the particle surface takes place as evidenced by XAS measurements and optical spectrocopy. This reduction allows to xplain the observed ferromagnetic signal within the well established theories of magnetism.Comment: Accepted in Journal of Applied Physic