Bioinspired electronic white cane implementation based on a LIDAR, a tri-axial accelerometer and a tactile belt

This work proposes the creation of a bioinspired electronic white cane for blind people using the whiskers principle for short-range navigation and exploration. Whiskers are coarse hairs of an animal's face that tells the animal that it has touched something using the nerves of the skin. In this work the raw data acquired from a low-size terrestrial LIDAR and a tri-axial accelerometer is converted into tactile information using several electromagnetic devices configured as a tactile belt. The LIDAR and the accelerometer are attached to the user’s forearm and connected with a wire to the control unit placed on the belt. Early validation experiments carried out in the laboratory are promising in terms of usability and description of the environment.

Una petita novel·la en prosa en l'àmbit del Renaixement català : Paràmetres teoricoliteraris renaixentistes que expliquen la paròdia de l'estil culte de Les estil·lades y amoroses lletres trameses per Berthomeu Sirlot a la sua senyora, y per ella a ell

Aquest treball pretén esbrinar fins a quin punt se segueixen els criteris teòrics establerts pels autors catalans del Renaixement en la literatura catalana de ficció del segle XVI. Per examinar l'adequació als models proposats pels humanistes he triat una obra anònima de caràcter paròdic escrita en forma d'epístoles entre dos llauradors de l'Horta de València, Les estil·lades y amoroses lletres trameses per Berthomeu Sirlot a la sua senyora, y per ella a ell. El procediment de treball consistirà a analitzar com els teòrics del Renaixement de l'àrea catalanoparlant van interpretar i assimilar en la seva obra alguns dels conceptes més importants de les poètiques i les retòriques dels clàssics grecs i llatins (els principis d'imitació, decòrum, harmonia i ordre), en aquest cas Aristòtil i Horaci, i si l'autor anònim de Les estil·lades y amoroses lletres els va tenir en compte a l'hora de compondre la seva obra. A la vegada, en tractar-se d'una paròdia satírica amb clara voluntat humorística, aquesta anàlisi també pot donar compte de quina opinió tenien els intel·lectuals catalans del Renaixement sobre la ficció i l'humor.

Analysis of Pleistocene paleodrainage evolution in the Po Basin (Italy) by multivariate statistical techniques

In order to obtain a high-resolution Pleistocene stratigraphy, eleven continuouslycored boreholes, 100 to 220m deep were drilled in the northern part of the PoPlain by Regione Lombardia in the last five years. Quantitative provenanceanalysis (QPA, Weltje and von Eynatten, 2004) of Pleistocene sands was carriedout by using multivariate statistical analysis (principal component analysis, PCA,and similarity analysis) on an integrated data set, including high-resolution bulkpetrography and heavy-mineral analyses on Pleistocene sands and of 250 majorand minor modern rivers draining the southern flank of the Alps from West toEast (Garzanti et al, 2004; 2006). Prior to the onset of major Alpine glaciations,metamorphic and quartzofeldspathic detritus from the Western and Central Alpswas carried from the axial belt to the Po basin longitudinally parallel to theSouthAlpine belt by a trunk river (Vezzoli and Garzanti, 2008). This scenariorapidly changed during the marine isotope stage 22 (0.87 Ma), with the onset ofthe first major Pleistocene glaciation in the Alps (Muttoni et al, 2003). PCA andsimilarity analysis from core samples show that the longitudinal trunk river at thistime was shifted southward by the rapid southward and westward progradation oftransverse alluvial river systems fed from the Central and Southern Alps.Sediments were transported southward by braided river systems as well as glacialsediments transported by Alpine valley glaciers invaded the alluvial plain.Kew words: Detrital modes; Modern sands; Provenance; Principal ComponentsAnalysis; Similarity, Canberra Distance; palaeodrainage

Monitoring switch-type sensors and powering autonomous sensors via inductive coupling: application to removable seats in vehicles

Aquesta tesi explora la possibilitat de fer servir enllaços inductius per a una aplicació de l’automòbil on el cablejat entre la centraleta (ECU) i els sensors o detectors és difícil o impossible. S’han proposat dos mètodes: 1) el monitoratge de sensors commutats (dos possibles estats) via acoblament inductiu i 2) la transmissió mitjançant el mateix principi físic de la potència necessària per alimentar els sensors autònoms remots. La detecció d'ocupació i del cinturó de seguretat per a seients desmuntables pot ser implementada amb sistemes sense fils passius basats en circuits ressonants de tipus LC on l'estat dels sensors determina el valor del condensador i, per tant, la freqüència de ressonància. Els canvis en la freqüència són detectats per una bobina situada en el terra del vehicle. S’ha conseguit provar el sistema en un marge entre 0.5 cm i 3 cm. Els experiments s’han dut a terme fent servir un analitzador d’impedàncies connectat a una bobina primària i sensors comercials connectats a un circuit remot. La segona proposta consisteix en transmetre remotament la potència des d’una bobina situada en el terra del vehicle cap a un dispositiu autònom situat en el seient. Aquest dispositiu monitorarà l'estat dels detectors (d'ocupació i de cinturó) i transmetrà les dades mitjançant un transceptor comercial de radiofreqüència o pel mateix enllaç inductiu. S’han avaluat les bobines necessàries per a una freqüència de treball inferior a 150 kHz i s’ha estudiat quin és el regulador de tensió més apropiat per tal d’aconseguir una eficiència global màxima. Quatre tipus de reguladors de tensió s’han analitzat i comparat des del punt de vista de l’eficiència de potència. Els reguladors de tensió de tipus lineal shunt proporcionen una eficiència de potència millor que les altres alternatives, els lineals sèrie i els commutats buck o boost. Les eficiències aconseguides han estat al voltant del 40%, 25% i 10% per les bobines a distàncies 1cm, 1.5cm, i 2cm. Les proves experimentals han mostrat que els sensors autònoms han estat correctament alimentats fins a distàncies de 2.5cm.

Major-elements trends in cenozoic volcanites of Hungary

Hungary lies entirely within the Carpatho-Pannonian Region (CPR), a dominant tectonic unit of eastern Central Europe. The CPR consists of the Pannonian Basin system, and the arc of the Carpathian Mountains surrounding the lowlands in the north, east, and southeast. In the west, the CPR is bounded by the Eastern Alps, whereas in the south, by the Dinaridic belt. (...)

Vehículos-robot de guiado automático para almacenes y plantas de manufacturación

En este proyecto de final de carrera se realiza la gestión del tráfico de AGV y la simulación de su comportamiento al circular por una planta de estudio. Con la simulación se puede ver como varía el comportamiento de la planta al modificar el número de AGV y la velocidad a la que circulan. La planta objeto de estudio es un laboratorio de análisis clínico en el que se ha sustituido el sistema de transporte interno basado en cintas por uno con AGV, con lo que se ha podido comprobar que dicha sustitución es factible.

Geología del Montgrí

This paper, fundamentally stratigraphic, is based on the vertical distribution of fauna in sediments which constitute the Montgri Massif. The stratigraphic series is composed of two units: one allochtonous (Mesozoic) and a second one autochtonous (Paleogene). The latter crops out in front of the thrust belt and presents the typical facies described by PALLI (1972). The allochtonous part is formed by the following units (from bottom to top): variegated gypsiferous shales of Keuper age; marls, limestones and dolomites from the Lias (Domerian); gray breccia ted dolomites: supraliassic; and Cretaceous limestones with rare interbeds of calcareous marls and nodular shaly marls. In this unit the Neocomian, Barremian (?), Aptian, Albian, Cenomanian, Turonian (?) and Santonian haven been recognized. Structurally, the Montgri Massif is part of a thrust belt which has been divided into three parts of different development ang age. Both parts are affected by ample synclinal folds of NE-SW directions and fractures of NW-SE orientation. The fractures condition the torrential streams as well as the karstic phenomena present in the Massif. These and the eolian actions are the main causes of the present geomorphology of the Montgri

Sant Julià de Ramis y Puig Rom: dos ejemplos de yacimientos con armamento y equipamiento militar visigodo en el noreste peninsular

We present in this work a couple of weapons and objects related to the military equipment of early VIII century from two sites on Girona's province: the castellum of Sant Julià de Ramis (in the municipality of the same name), and the fort of Puig Rom (in Roses). The comparation of these materials has permitted to recompose a quite complete panoply with various types of knives and daggers, shield-handles, axes, spearheads and javelinheads, tips (regatones), arrowheads, belt-buckles and some buckles and horse harness elements

Ophiolite-related ultramafic rocks (Serpentinites) in the Caribbean region: a review of their occurrence, composition, origin, emplacements and Ni-Laterite soil formation

Ultramafic rocks, mainly serpentinized peridotites of mantle origin, are mostly associated with the ophiolites of Mesozoic age that occur in belts along three of the margins of the Caribbean plate. The most extensive exposures are in Cuba. The ultramafic-mafic association (ophiolites) were formed and emplaced in several different tectonic environments. Mineralogical studies of the ultramafic rocks and the chemistry of the associated mafic rocks indicate that most of the ultramafic-mafic associations in both the northern and southern margins of the plate were formed in arc-related environments. There is little mantle peridotite exposed in the ophiolitic associations of the west coast of Central America, in the south Caribbean in Curacao and in the Andean belts in Colombia. In these occurrences the chemistry and age of the mafic rocks indicates that this association is mainly part of the 89 Ma Caribbean plateau province. The age of the mantle peridotites and associated ophiolites is probably mainly late Jurassic or Early Cretaceous. Emplacement of the ophiolites possibly began in the Early Cretaceous in Hispaniola and Puerto Rico, but most emplacement took place in the Late Cretaceous to Eocene (e.g. Cuba). Along the northern South America plate margin, in the Caribbean mountain belt, emplacement was by major thrusting and probably was not completed until the Oligocene or even the early Miocene. Caribbean mantle peridotites, before serpentinization, were mainly harzburgites, but dunites and lherzolites are also present. In detail, the mineralogical and chemical composition varies even within one ultramafic body, reflecting melting processes and peridotite/melt interaction in the upper mantle. At least for the northern Caribbean, uplift (postemplacement tectonics) exposed the ultramafic massifs as a land surface to effective laterization in the beginning of the Miocene. Tectonic factors, determining the uplift, exposing the peridotites to weathering varied. In the northern Caribbean, in Guatemala, Jamaica, and Hispaniola, uplift occurred as a result of transpresional movement along pre-existing major faults. In Cuba, uplift occurred on a regional scale, determined by isostatic adjustment. In the south Caribbean, uplift of the Cordillera de la Costa and Serrania del Interior exposing the peridotites, also appears to be related to strike-slip movement along the El Pilar fault system. In the Caribbean, Ni-laterite deposits are currently being mined in the central Dominican Republic, eastern Cuba, northern Venezuela and northwest Colombia. Although apparently formed over ultramafic rocks of similar composition and under similar climatic conditions, the composition of the lateritic soils varies. Factors that probably determined these differences in laterite composition are geomorphology, topography, drainage and tectonics. According to the mineralogy of principal ore-bearing phases, Dominican Ni-laterite deposits are classified as the hydrous silicate-type. The main Ni-bearing minerals are hydrated Mg-Ni silicates (serpentine and ¿garnierite¿) occurring deeper in the profile (saprolite horizon). In contrast, in the deposits of eastern Cuba, the Ni and Cooccurs mainly in the limonite zone composed of Fe hydroxides and oxides as the dominant mineralogy in the upper part of the profile, and are classified as the oxide-type.

Origin of a restraining bend in an evolving strike-slip system: The Cenozoic As Pontes basin (NW Spain)

The As Pontes basin (12 km2), NW Iberian Peninsula, is bounded by a double restraining bend of a dextral strike-slip fault, which is related to the western onshore end of the Pyrenean belt. Surface and subsurface data obtained from intensive coal exploration and mining in the basin since the 1960s together with additional structural and stratigraphic sequence analysis allowed us to determine the geometric relationships between tectonic structures and stratigraphic markers. The small size of the basin and the large amount of quality data make the As Pontes basin a unique natural laboratory for improving our understanding of the origin and evolution of restraining bends. The double restraining bend is the end stage of the structural evolution of a compressive underlapping stepover, where the basin was formed. During the first stage (stepover stage), which began ca. 30 Ma ago (latest Rupelian) and lasted 3.4 My, two small isolated basins bounded by thrusts and normal faults were formed. For 1.3 My, the strike-slip faults, which defined the stepover, grew towards each other until joining and forming the double restraining bend, which bounds one large As Pontes basin (transition stage). The history of the basin was controlled by the activity of the double restraining bend for a further 3.4 My (restraining bend stage) and ended in mid-Aquitanian times (ca. 22 Ma).

Origin of a restraining bend in an evolving strike-slip system: The Cenozoic As Pontes basin (NW Spain)

The As Pontes basin (12 km2), NW Iberian Peninsula, is bounded by a double restraining bend of a dextral strike-slip fault, which is related to the western onshore end of the Pyrenean belt. Surface and subsurface data obtained from intensive coal exploration and mining in the basin since the 1960s together with additional structural and stratigraphic sequence analysis allowed us to determine the geometric relationships between tectonic structures and stratigraphic markers. The small size of the basin and the large amount of quality data make the As Pontes basin a unique natural laboratory for improving our understanding of the origin and evolution of restraining bends. The double restraining bend is the end stage of the structural evolution of a compressive underlapping stepover, where the basin was formed. During the first stage (stepover stage), which began ca. 30 Ma ago (latest Rupelian) and lasted 3.4 My, two small isolated basins bounded by thrusts and normal faults were formed. For 1.3 My, the strike-slip faults, which defined the stepover, grew towards each other until joining and forming the double restraining bend, which bounds one large As Pontes basin (transition stage). The history of the basin was controlled by the activity of the double restraining bend for a further 3.4 My (restraining bend stage) and ended in mid-Aquitanian times (ca. 22 Ma).

The Hercynian structure of the Catalonian Coastal Ranges (NE Spain)

In the Catalonian Coastal Ranges, Paleozoic sedimentary and meta-sedimentary rocks crop out in severa1 areas, intruded by late tectonic Hercynian granitoids and separated by Mesozoic and Tertiary cover sediments. Large structures are often difficult to recognize, although a general east-west trend can be observed on the geological map. Deformation was accompanied by the development of cleavages and regional metamorphism. Green-schist facies rocks are prominent throughout the Ranges, while amphibolite facies are restricted to small areas. In low-grade areas, the main deformation phase generated south-facing folds with an axial plane cleavage (slaty cleavage in metapelitic rocks). The intersection lineation (Ss/Sl) and the axes of minor folds trend cast-west, as do all mapable structures. Late deformations generated coarse crenulations, small chevrons and kink-bands, all intersecting the slaty cleavage at high angles. In medium- to high-grade areas no major folds have been observed. In these areas, the main foliation is a schistosity and is often folded, giving centimetric to decimetric, nearly isoclinal intrafolial folds. In schists, these folds aremuchmore common than inother lithologies, and can be associated with a crenulation cleavage. All these planar structures in high-grade rocks are roughly parallel. The late Hercynian deformational events, which gave rise to the crenulations and small chevrons, also produced large (often kilometric) open folds which fold the slaty cleavage and schistosity. As aconsequence, alternating belts with opposite dip (north and south) of the main foliation were formed. With respect to the Hercynian orogenic belt, the Paleozoic outcrops of the Catalonian Coastal Ranges are located within the northern branch of the Ibero-Armorican arc, and have a relatively frontal position within the belt. The Carboniferous of the Priorat-Prades area, together with other outcrops in the Castellón Province, the Montalbán massif (Iberian Chain) and the Cantabrian zone (specially the Pisuerga-Carrión Province) probably form part of a wide area of foreland Carboniferous deposition placed at the core of the arc.

Plant diversity across five vegetation belts in the Pyrenees (Catalonia, Spain)

In this paper we analyze the size and habitat partitioning of the vascular floras of five areas of the NE Iberian Peninsula, representing five distinct vegetation belts and three floristic regions: Mediterranean (basal belt), medio-European (submontane and montane belts) and Boreo-Alpine (subalpine and alpine belts). Each area covered over 1000 ha, and was fairly uniform in terms of potential vegetation, bedrock and bioclimate. They excluded large villages and field areas, the landscape being mainly natural or moderately anthropized.

Macrofossils in Raraku Lake (Easter Island) integrated with sedimentary and geochemical records towards a palaeoecological synthesis for the last 34,000 years

Macrofossil analysis of a composite 19 m long sediment core from Rano Raraku Lake (Easter Island)was related to litho-sedimentary and geochemical features of the sediment. Strong stratigraphical patterns are shown by indirect gradient analyses of the data. The good correspondence between the stratigraphical patterns derived from macrofossil (Correspondence Analysis) and sedimentary and geochemical data (Principal Component Analysis) shows that macrofossil associations provide sound palaeolimnological information in conjunction with sedimentary data. The main taphonomic factors in fluencing the macrofossil assemblages are run-off from the catchment, the littoral plant belt, and the depositional environment within the basin. Five main stages during the last 34,000 calibrated years BP (cal yr BP) are characterised from the lithological, geochemical, and macrofossil data. From 34 to 14.6 cal kyr BP (last glacial period) the sediments were largely derived from the catchment, indicating a high energy lake environment with much erosion and run-off bringing abundant plant trichomes, lichens, and mosses into the centre of Raraku Lake.

Automatització de l’estació FESTO MPS2000C

L’Escola Politècnica Superior de la Universitat de Vic disposa d’una cèl·lula de fabricació didàctica de la marca FESTO que simula un procés d’assemblatge d’una comanda. Aquesta cèl·lula esta composta per quatre estacions diferenciades que poden treballar de forma independent o de forma conjunta, l’estació palets, l’estació plaques, l’estació cinta i l’estació magatzem. Cada estació és un conjunt de sensors i actuadors controlats per mitjà d’un PLC, aquests estan interconnectats a través d’un bus industrial. L’objectiu d’aquest treball consisteix en realitzar la substitució dels PLC’s, decidir el funcionament que han de tenir les estacions, instal·lar una pantalla tàctil pel control del procés i realitzar la programació de tots els elements. Aquest projecte ha estat realitzat en cinc fases principals: 1. Estudi i coneixement de les estacions, en aquesta fase s’ha estudiat els diferents sensors i actuadors que les conformen, així com el funcionament d’aquestes amb el programa i PLC’s antics. 2. Instal·lació i cablejat dels nous PLC’s i de la pantalla tàctil. 3. Estudi sobre el nou funcionament que han de seguir les estacions. 4. Programació dels nous dispositius seguint el funcionament acordat. 5. Posada en marxa del sistema i realització de proves. 6. Realització de la memòria del projecte, on s’expliquen les característiques i el funcionament de totes les estacions i de la pantalla tàctil. La conclusió que s’ha extret d’aquest treball és que l’automatització d’un procés de fabricació tot i que suposa un esforç inicial a nivell de recursos, un cop realitzada la instal·lació suposa una millora de l’eficiència del sistema. És per això que la indústria cada cop més tendeix a automatitzar els seus processos, no només per millorar la competitivitat, sinó també per realitzar tasques que les persones no poden executar de forma eficient o segura.