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Several cell disruption methods were tested on Nannochloropsis gaditana, to evaluate their efficiency in terms of cell disintegration, energy input and release of soluble proteins. High-pressure homogenization (HPH) and bead milling were the most efficient with >95% cell disintegration, ±50% (w/w) release of total proteins and low energy input (<0.5kWh.kg−1biomass). Enzymatic treatment required...
This paper describes the dynamic and mechanical development of RH-0, an autonomous humanoid robot designed by the Robotics Lab of the University Carlos III of Madrid. The main objective of the project has been to obtain the robot that would walk like a human being. Using trajectories generated previously by the kinematic analysis, a dynamic design was made, that accepted as the main hypothesis...
The objective of this paper is to present the user friendly graphical environment for gait optimization of the humanoid robot Rh-0 that is currently under development at the Robotics Lab of the University Carlos III of Madrid. The robot has 21 DOF and is 1.35m tall. The main objective of the developed environment is to solve the kinematics problem of high DOF humanoid robots: forward kinematics, inverse...
This paper presents the experimental results of the full size Rh-0 humanoid robot developed by the University Carlos III of Madrid. The robot has 21 DOF, 1.350 mm height and 40 kg weight including the on-board batteries and hardware. The robot's control architecture is formed by the distributed dual CAN bus system. The bus is used for joints' control and supervision, and also for sensing different...
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