Terrain exploration robots can be of great usefulness in critical navigation circumstances. However, the challenge is how to guarantee a control for covering a full terrain area. That way, the application of a chaotic oscillator to control the wheels of an autonomous mobile robot, is introduced herein. Basically, we describe the realization of a random number generator (RNG) based on a double-scroll chaotic oscillator, which is used to guide the robot to cover a full terrain area. The resolution of the terrain exploration area is determined by both the number of bits provided by the RNG and the characteristics of step motors. Finally, the experimental results highlight the covered area by painting the trajectories that the robot explores.
Nowadays, different kinds of experimental realizations of chaotic oscillators have been already presented in the literature. However, those realizations do not consider the value of the maximum Lyapunov exponent, which gives a quantitative measure of the grade of unpredictability of chaotic systems. That way, this paper shows the experimental realization of an optimized multiscroll chaotic oscillator based on saturated function series. First, from the mathematical description having four coefficients (a, b, c, d1), an optimization evolutionary algorithm varies them to maximize the value of the positive Lyapunov exponent. Second, a realization of those optimized coefficients using operational amplifiers is given. Herein a, b, c, d1 are implemented with precision potentiometers to tune up to four decimals of the coefficients having the range between 0.0001 and 1.0000. Finally, experimental results of the phase-space portraits for generating from 2 to 10 scrolls are listed to show that their associated value for the optimal maximum Lyapunov exponent increases by increasing the number of scrolls, thus guaranteeing a more complex chaotic behavior.
Tal y como sugieren algunos estudios, las habilidades psicológicas de los para-atletas pueden ser más potentes que las de los atletas, debido a la superación de barreras físicas, comunicativas y económicas, además de traumas. El objetivo de este estudio fue conocer si existían diferencias en las variables psicológicas implicadas en el rendimiento deportivo por la existencia o no de la discapacidad en el triatlón. 18 triatletas y 18 para-triatletas españoles de nivel nacional e internacional participaron en el estudio. Para el estudio fue utilizado el cuestionario Características psicológicas relacionadas con el Rendimiento Deportivo (CPRD). Los resultados obtenidos con la muestra seleccionada de triatletas expertos indican que no existen diferencias (p < ,05) en las variables psicológicas analizadas por el CPRD por la existencia o no de la discapacidad. Como conclusión, los atletas y para-atletas participantes en el estudio presentan un perfil psicológico similar, no existiendo ninguna diferencia entre los grupos.Abstract. Just as has been reported in some studies, the psychological skills of para-athletes can be more consistent than those of athletes due to the overcoming of physical, communicative, and economic barriers, as well as traumas. The purpose of this study was to understand the differences in the psychological variables involved in sports performance between disabled and non-disabled triathlon athletes. 18 triathletes and 18 disabled triathletes of national and international level participated in the study. The questionnaire Características psicológicas relacionadas con el Rendimiento Deportivo (CPRD) was used in the study. The results obtained with the selected sample of expert triathletes indicate that there are no differences (p <.05) in the psychological variables analyzed by the CPRD based on the presence or not of a disability. As a summary, athletes and para-athletes participating in the study have a similar psychological profile, no difference being found between the groups.
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