https://hdl.handle.net/10259/7510 2026-04-18T21:27:56Z https://hdl.handle.net/10259/9519 Bio-inspired design of hard-bodied mobile robots based on arthropod morphologies: a 10 year systematic review and bibliometric analysis Cornejo, José; Sierra Garcia, Jesús Enrique; Gómez Gil, Francisco Javier; Weitzenfeld, Alfredo; Acevedo, Flor E.; Escalante, Ignacio; Recuero, Ernesto; Wehrtmann, Ingo S. This research presents a 10-year systematic review based on bibliometric analysis of the bio-inspired design of hard-bodied mobile robot mechatronic systems considering the anatomy of arthropods. These are the most diverse group of animals whose flexible biomechanics and adaptable morphology, thus, it can inspire robot development. Papers were reviewed from two international databases (Scopus and Web of Science) and one platform (Aerospace Research Central), then they were classified according to: Year of publication (January 2013 to April 2023), arthropod group, published journal, conference proceedings, editorial publisher, research teams, robot classification according to the name of arthropod, limb's locomotion support, number of legs/arms, number of legs/body segments, limb's degrees of freedom, mechanical actuation type, modular system, and environment adaptation. During the screening, more than 33 000 works were analyzed. Finally, a total of 174 studies (90 journal-type, 84 conference-type) were selected for in-depth study: Insecta—hexapods (53.8%), Arachnida—octopods (20.7%), Crustacea—decapods (16.1%), and Myriapoda—centipedes and millipedes (9.2%). The study reveals that the most active editorials are the Institute of Electrical and Electronics Engineers Inc., Springer, MDPI, and Elsevier, while the most influential researchers are located in the USA, China, Singapore, and Japan. Most works pertained to spiders, crabs, caterpillars, cockroaches, and centipedes. We conclude that 'arthrobotics' research, which merges arthropods and robotics, is constantly growing and includes a high number of relevant studies with findings that can inspire new methods to design biomechatronic systems. Artículo de revisión 2024-07-01T00:00:00Z https://hdl.handle.net/10259/9293 Vibration-based monitoring of agro-industrial machinery using a k-Nearest Neighbors (kNN) classifier with a Harmony Search (HS) frequency selector algorithm Gómez Gil, Francisco Javier; Martínez-Martínez, Víctor; Ruiz González, Rubén; Martínez Martínez, Lidia; Gómez Gil, Jaime Monitoring the status of rotating components is important in modern machinery. The goal of this study is to evaluate the feasibility of using a k-Nearest Neighbors (kNN) classifier combined with a Harmony Search (HS) algorithm, to detect the operational status of rotating components within agricultural machines. Vibration data, the source data, were acquired from four accelerometers located along the chassis of a harvester. Five operational statuses of three rotating components of the harvester were studied: engine (low/maximum speed), thresher, and chopper (on/off and balanced/unbalanced). The methodology includes vibration signal acquisition, data preprocessing, smoothing, preselection of frequencies, Brute Force (BF) and Harmony Search frequency selection, and classification with kNN. The input frequencies for the classifier were chosen with either BF search or HS. The main results of the study were: i) the preselection of frequencies reduced the training time between 92.2% and 95.6%; ii) the smoothing stage improved accuracy; iii) HS reduced the training time between 82% and 90% in comparison with BF, reaching accuracies of nearly 100% in the five operational statuses with only 2 input frequencies; iv) similar levels of accuracy were obtained when using data from the accelerometers at different locations. The results suggested that it was feasible to predict the operational status of rotating components of agricultural machines using a kNN classifier with the combination of preselection, smoothing, and the HS algorithm. This feasibility was achieved both in terms of accuracy and computational burden, building upon previously proposed methods. 2024-02-01T00:00:00Z https://hdl.handle.net/10259/9292 Phytostabilization of metal(loid)s by ten emergent macrophytes following a 90-day exposure to industrially contaminated groundwater Velasco Arroyo, Blanca; Curiel Alegre, Sandra; Khan, Aqib Hassan Ali; Rumbo Lorenzo, Carlos; Pérez Alonso, Daniel; Rad Moradillo, Juan Carlos; De Wilde, Herwig; Pérez de Mora, Alfredo; Barros García, Rocío Better understanding of macrophyte tolerance under long exposure times in real environmental matrices is crucial for phytoremediation and phytoattenuation strategies for aquatic systems. The metal(loid) attenuation ability of 10 emergent macrophyte species (Carex riparia, Cyperus longus, Cyperus rotundus, Iris pseudacorus, Juncus effusus, Lythrum salicaria, Menta aquatica, Phragmites australis, Scirpus holoschoenus, and Typha angustifolia) was investigated using real groundwater from an industrial site, over a 90-day exposure period. A “phytobial” treatment was included, with 3 plant growth-promoting rhizobacterial strains. Plants exposed to the polluted water generally showed similar or reduced aerial biomass compared to the controls, except for C. riparia. This species, along with M. aquatica, exhibited improved biomass after bioaugmentation. Phytoremediation mechanisms accounted for more than 60% of As, Cd, Cu, Ni, and Pb removal, whilst abiotic mechanisms contributed to ∼80% removal of Fe and Zn. Concentrations of metal(loid)s in the roots were generally between 10–100 times higher than in the aerial parts. The macrophytes in this work can be considered “underground attenuators”, more appropriate for rhizostabilization strategies, especially L. salicaria, M. aquatica, S. holoschoenus, and T. angustifolia. For I. pseudacorus, C. longus, and C. riparia; harvesting the aerial parts could be a complementary phytoextraction approach to further remove Pb and Zn. Of all the plants, S. holoschoenus showed the best balance between biomass production and uptake of multiple metal(loid)s. Results also suggest that multiple phytostrategies may be possible for the same plant depending on the final remedial aim. Phytobial approaches need to be further assessed for each macrophyte species. 2024-03-25T00:00:00Z https://hdl.handle.net/10259/8411 Experimental study and geometrical method to design bio-inspired robotic kinematic chains of inching-locomotion caterpillars Cornejo, José; Sierra Garcia, Jesús Enrique; Gómez Gil, Francisco Javier; Grados, Juan; Palomares, Ricardo; Weitzenfeld, Alfredo Inching-locomotion caterpillars (ILAR) show impressive environmental adaptation, having high dexterity and flexibility. To design robots that mimic these abilities, a novel Bioinspired Robotic Design (BIROD) method is presented. The method is composed by an algorithm for Geometrical Kinematic Analysis (GEKINS) to standardize the proportional dimensions according to the insect’s anatomy and obtain the kinematic chains. The approach is experimentally applied to analyze the locomotion and kinematic chain of these specimens: Geometridae – 2 pair of prolegs (represents 35,000 species) and Plusiinae – 3 pair of prolegs (represents 400 species). The obtained data indicate that the application of the proposed method permits to locate the attachment mechanisms, joints, links, and to calculate angular displacement, angular average velocity, number of degrees of freedom, and thus the kinematic chain. Geometridae in contrast to Plusiinae, shows a longer Walk-Stride Length (WSL), a lower number of single-rotational joints in 2-D (3 DOF versus 4 DOF), and a lower number of dual-rotational joints in 3-D (6 DOF versus 8 DOF). The application of BIROD and GEKINS provides the forward kinematics for 35,400 ILAR species and are expected to be useful as a preliminary phase for the design of bio-inspired arthropod robots. 2024-01-01T00:00:00Z