Arduino plataforma mugikor baten erabilera RaspberryPi eta ROS bitartez

Txosten honetan azaltzen den proiektua, auto itxurako robot baten eraikuntzan oinarritzen da. Arduino plataforman oinarritutako robot mugikor baten sorkuntza burutuko da hutsetik, honen kontrola Raspberry Pi ordenagailu txikiaren bitartez eginez. Gainera, azken gailu honi ahalmen handiagoa emateko asmoz, ROS plataforma instalatuko da bertan. Duten kostu baxua dela eta, gaur egun izugarrizko arrakasta lortu dute plataforma guzti hauek, baina proiektu honetan beraien ahalmena neurtu nahi dugu ezaugarri zehatz batzuk dituen robota sortuz.

Diseño e implementación software de un robot humanoide.

[ES]Este documento tiene la intención de presentar un Trabajo de Fin de Grado (TFG). Este proyecto consiste en una serie de herramientas que permitan el diseño, implementación y desarrollo del software de control de un robot humanoide. El proyecto se centra en la mejora de la efectividad, robustez, rendimiento y fiabilidad del software. Los cambios propuestos introducen mejoras sobre el robot comercial robo nova. En concreto la capacidad de ser modular, permitiendo de esta forma el uso total o parcial de las soluciones escogidas, ahorrando tiempo y dinero en futuros desarrollos de esta plataforma

Implementación hardware de un robot humanoide.

[ES]Este trabajo describe una serie de mejoras aplicables a un kit comercial de robot humanoide Robonova, con el fin de que este reproduzca el comportamiento cinemático del ser humano con mayor autonomía. Entre ellas destacan la implementación de sensores infrarrojos, sensores de posición, cámaras de visión y conexiones en serie de servomotores. Todo ello controlado desde un ordenador de placa reducida Raspberry Pi.

A Computational Module Assembled from Different Protease Family Motifs Identifies PI PLC from Bacillus cereus as a Putative Prolyl Peptidase with a Serine Protease Scaffold

Proteolytic enzymes have evolved several mechanisms to cleave peptide bonds. These distinct types have been systematically categorized in the MEROPS database. While a BLAST search on these proteases identifies homologous proteins, sequence alignment methods often fail to identify relationships arising from convergent evolution, exon shuffling, and modular reuse of catalytic units. We have previously established a computational method to detect functions in proteins based on the spatial and electrostatic properties of the catalytic residues (CLASP). CLASP identified a promiscuous serine protease scaffold in alkaline phosphatases (AP) and a scaffold recognizing a beta-lactam (imipenem) in a cold-active Vibrio AP. Subsequently, we defined a methodology to quantify promiscuous activities in a wide range of proteins. Here, we assemble a module which encapsulates the multifarious motifs used by protease families listed in the MEROPS database. Since APs and proteases are an integral component of outer membrane vesicles (OMV), we sought to query other OMV proteins, like phospholipase C (PLC), using this search module. Our analysis indicated that phosphoinositide-specific PLC from Bacillus cereus is a serine protease. This was validated by protease assays, mass spectrometry and by inhibition of the native phospholipase activity of PI-PLC by the well-known serine protease inhibitor AEBSF (IC50 = 0.018 mM). Edman degradation analysis linked the specificity of the protease activity to a proline in the amino terminal, suggesting that the PI-PLC is a prolyl peptidase. Thus, we propose a computational method of extending protein families based on the spatial and electrostatic congruence of active site residues.

Triel Bonds, pi-Hole-pi-Electrons Interactions in Complexes of Boron and Aluminium Trihalides and Trihydrides with Acetylene and Ethylene

MP2/aug-cc-pVTZ calculations were performed on complexes of aluminium and boron trihydrides and trihalides with acetylene and ethylene. These complexes are linked through triel bonds where the triel center (B or Al) is characterized by the Lewis acid properties through its -hole region while -electrons of C2H2 or C2H4 molecule play the role of the Lewis base. Some of these interactions possess characteristics of covalent bonds, i.e., the Al--electrons links as well as the interaction in the BH3-C2H2 complex. The triel--electrons interactions are classified sometimes as the 3c-2e bonds. In the case of boron trihydrides, these interactions are often the preliminary stages of the hydroboration reaction. The Quantum Theory of Atoms in Molecules as well as the Natural Bond Orbitals approach are applied here to characterize the -hole--electrons interactions.