Abstract
Recent developments in dexterous robotic manipulation technologies allowed for the design of very compact, yet capable, multi-fingered robotic hands. These can be designed to emulate the human touch and feel, reducing the aforementioned need for human expertise in highly detailed tasks. The presented work focused on the application of two simulation platforms Gazebo and MuJoCo - to a use-case of a Schunk Five Finger Robotic Hand, coupled to the UR5 collaborative manipulator. This allowed to assess the relative appropriateness of each of these platforms.

Abstract
The C/C++ compilation stack (Intermediate Representations (IRs), compilation passes and backends) is encumbered by a steep learning curve, which we believe can be lowered by complementing it with approaches such as source-to-source compilation. Source-to-source compilation is a technology that is widely used and quite mature in certain programming environments, such as JavaScript, but that faces a low adoption rate in others. In the particular case of C and C++ some of the identified factors include the high complexity of the languages, increased difficulty in building and maintaining C/C++ parsers, or limitations on using source code as an intermediate representation. Additionally, new technologies such as Multi-Level Intermediate Representation (MLIR) have appeared as potential competitors to source-to-source compilers at this level. In this paper, we present what we have identified as current challenges of source-to-source compilation of C and C++, as well as what we consider to be opportunities and possible directions forward. We also present several examples, implemented on top of the Clava source-to-source compiler, that use some of these ideas and techniques to raise the abstraction level of compiler research on complex compiled languages such as C or C++. The examples include automatic parallelization of for loops, high-level synthesis optimisation, hardware/software partitioning with run-time decisions, and automatic insertion of inline assembly for fast prototyping of custom instructions. © João Bispo, Nuno Paulino, and Luís Miguel Sousa.

Abstract

Abstract
The increasing number of vehicle to grid (V2G) charging stations connected to the electrical grid changes the characteristics of electrical distribution grids. Active power electronics introduces additional capacitance and inductance to the electrical grid and affects the frequency dependent grid impedance. This study shows the impact of a V2G charging station to the frequency dependent grid impedance up to 500 kHz. The LCL filter, the DC link capacitor and inductors cause parallel and series resonances. Resonance frequencies appear in a wide frequency range starting from 500 Hz up to 30 kHz. It is shown that the V2G charger can represent a source of supraharmonic emissions and the importance to consider supraharmonic emissions and the frequency dependent grid impedance to determine the impact of V2G chargers (active power electronics) to the electrical grid is outlined.

Abstract

Abstract
This study presents and applies cross-correlation analysis of lower limb joint angular kinematic signal for coordination assessment during impulse phase of standard Maximum Vertical Jump (MVJ). Standard MVJ has been applied for noninvasive subject specific analysis at Counter Movement Jump (CMJ) and Drop Jump (DJ) with long and short Counter Movement (CM) for comparison with Squat Jump (SJ) and no CM. Long and short CM are intrinsically related to the underlying mechanisms of muscle Stretch–Shortening Cycle (SSC) with the integration of muscular action and synergistic joint coordination an open issue on the contribution for the task to perform. Lower limb joint coordination has thus received increasing research interest as an external observed result of the neuromuscular control mechanisms and the hypotheses of training and repetition contribution for stereotyped coordination with the need of objective tools considering entire time series while avoiding subjective point selection for coordination assessment. The results of maximum cross-correlation (CCr max) and corresponding time delay (t) from entire time series of the Hip (H), the Knee (K) and the Ankle (A) joints angular displacement (?), angular velocities (?) and angular accelerations (a) during a fifty-four trial sample with long, short and no CM performed by a group of healthy untrained subjects conduced to detection of maximum synchrony with null t of the lower limb ? at different conditions, whereas ? and a CCr led to detection of different time delay for CCr max with dominant negative t values corresponding to a proximal–distal coordination sequence at H–K-A. These results point thus for the need to consider entire time series of joint ? and a in addition to joint ? to detect different joint coordination and avoid subjective point selection for coordination assessment. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2023.