Análisis cinemático de robots antropomórficos con cuaterniones duales

[ES]Este documento presenta una teoría de análisis cinemático capaz de unificar posición/orientación describiendo el movimiento de la herramienta de un robot mediante un cuaternión dual que envuelve traslación y rotación. Se desarrolla la cinemática directa de dos robots, uno redundante y otro no redundante a fin de evaluar la validez del método en ambos casos. Por último, se comparan los resultados de dicha teoría con los resultados que ofrece la conocida teoría de las matrices de transformación homogéneas.

Role of G protein coupled inwardly rectifier K+ channels (GIRK) on the neurobiology depression

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The conventional facade solution during the developmental period in Gipuzkoa: decline (and end) of a construction system

The article analyses the construction process, the evolution and the disturbing future of the facade enclosure of the collective housing constructions built during the developmental period in the province of Gipuzkoa. 128 residential complexes were checked, and 17 people who directly took part in the construction of many of these buildings were interviewed. After examining the material and elements that make up the conventional facade solution used in Gipuzkoa and in much of Spain not only during those years but also up to the present time, the effects and causes of its main damages and flaws were studied. Its complex and costly adaptation to current demands is going to require a strong effort from society at large, and this raises the question of whether the life cycle of this construction system should be terminated once and for all.