Control d'un robot de 3 graus de llibertat

Partint d'una estructura robòtica de 3 graus de llibertat, s'ha de fer el disseny deles unitats de potència i control , muntatge, conexionat, programació i posta enmarxa per poder generar trajectòries des d'un PC.Per aconseguir l'objectiu s'han realitzat les següents fites:a) Ajust i modificacions mecàniques de la estructura robòticaSubstitució de xavetes i canvi de pinyons.b) Implementar, modificar i ajustar elements elèctrics del robot.Substitució de motor elèctric espatllat, realitzar un nou cablejat cap a lanova unitat de control i substitució d'un sensor de posició.c) Disseny i muntatge de la unitat de potènciaSelecció de la targeta MD03 per controlar l'alimentació, velocitat i sentitde gir del motors, que controlen els 3 graus de llibertat. Mecanització enuna caixa incloent: fusibles, amperímetres i connectors. Cablejat elèctric iposta en funcionament.d) Disseny, muntatge elèctric i programació de la unitat de control.Selecció del PLC S7300Escollir el tipus de comunicacions que es realitzaran tant amb la unitat depotència com amb el PC.Disseny plànols elèctrics mitjançant el programa EPLAN.Mecanització, cablejat i posta en marxa del disseny elèctric.El disseny del software es realitzarà mitjançant l'eina de programacióSTEP7 de SiemensProgramació del PLC per poder treballar diferents tipus de moviments itrajectòriese) Disseny i programació de la interfície d'usuari des d'un PCProgramació d'una interfície gràfica mitjançant WinCC Flexible per tal quel'usuari només introduint dades pugui fer que el robot es mogui demanera manual o semiautomàtica . També s'ha programat per tal quegeneri trajectòries en mode automàtic.S'ha programat una illa de pick and place a mode d'exemplificació.

Diseño y puesta en marcha de un laboratorio remoto de robótica

Este proyecto surge de la iniciativa de mejorar la calidad docente de las prácticas en la asignatura Robótica y Automatización Industrial impartida en la ETSE (Escola Tècnica Superior d’Enginyeria) de la UAB, mediante un sistema innovador. El objetivo es sustituir las actuales prácticas, basadas en la realización de simulaciones en entorno MATLAB para verificar las ecuaciones que gobiernan a los robots manipuladores, por un entorno de prácticas más atractivo consistente en un robot manipulador real, que podrá ser programado para la realización de tareas de PPO (Pick and Place Operation).

Valuation of defaultable bonds and debt restructuring

In this paper we develop a contingent valuation model for zero-coupon bonds with default. In order to emphasize the role of maturity time and place of the lender’s claim in the hierarchy of debt of a firm, we consider a firm that issues two bonds with different maturities and different seniorage. The model allows us to analyze the implications of both debt renegotiation and capital structure of a firm on the prices of bonds. We obtain that renegotiation brings about a significant change in the bond prices and that the effect is dispersed through different channels: increasing the value of the firm, reallocating payments, and avoiding costly liquidation. Moreover, the presence of two creditors leads to qualitatively different implications for pricing, while emphasizing the importance of bond covenants and renegotiation of the entire debt.

Efficient learning of reactive robot behaviors with a Neural-Q_learning approach

The purpose of this paper is to propose a Neural-Q_learning approach designed for online learning of simple and reactive robot behaviors. In this approach, the Q_function is generalized by a multi-layer neural network allowing the use of continuous states and actions. The algorithm uses a database of the most recent learning samples to accelerate and guarantee the convergence. Each Neural-Q_learning function represents an independent, reactive and adaptive behavior which maps sensorial states to robot control actions. A group of these behaviors constitutes a reactive control scheme designed to fulfill simple missions. The paper centers on the description of the Neural-Q_learning based behaviors showing their performance with an underwater robot in a target following task. Real experiments demonstrate the convergence and stability of the learning system, pointing out its suitability for online robot learning. Advantages and limitations are discussed

The First World War and coal trade geography in Latin America and the Caribbean (1890-1930)

This paper aims to illustrate the dynamics of coal trade between Latin America and its main trade partners, i.e. the USA, Great Britain and Germany, before and after the enormous disruption caused by the First World War. The coal trade was used as an indicator of modernization for Latin American countries, given that oil was at that time of secondary importance. Energy imports have determined the possibilities of each Latin American country in its process of development. Here we address this question and place special emphasis on supply channels, concluding that the trade link with main suppliers was of key significance. Although this was very clear by the end of the period, the process had started well before the First World War, at least for the majority of LA&C countries. These points are developed through a gravity model applied to the bilateral coal trade. The importance of the market supplier share is addressed through cluster methodologies.

The First World War and coal trade geography in Latin America and the Caribbean (1890-1930)

This paper aims to illustrate the dynamics of coal trade between Latin America and its main trade partners, i.e. the USA, Great Britain and Germany, before and after the enormous disruption caused by the First World War. The coal trade was used as an indicator of modernization for Latin American countries, given that oil was at that time of secondary importance. Energy imports have determined the possibilities of each Latin American country in its process of development. Here we address this question and place special emphasis on supply channels, concluding that the trade link with main suppliers was of key significance. Although this was very clear by the end of the period, the process had started well before the First World War, at least for the majority of LA&C countries. These points are developed through a gravity model applied to the bilateral coal trade. The importance of the market supplier share is addressed through cluster methodologies.

The First World War and Coal Trade Geography in Latin America and the Caribbean, 1890-1930

This paper aims to illustrate the dynamics of coal trade between Latin America and its main trade partners, i.e., the USA, Great Britain, and Germany, before and after the enormous disruption caused by the First World War. The coal trade was used as an indicator of modernization for Latin American countries, given that oil was at that time of secondary importance. Energy imports have determined the possibilities of each Latin American country in its process of development. Here, we address this question and place special emphasis on supply channels, concluding that the trade link with main suppliers was of key significance. Although this was very clear by the end of the period, the process had started well before the First World War, at least for the majority of LA&C countries. These points are developed through a gravity model applied to the bilateral coal trade. The importance of the market supplier share is addressed through cluster methodologies.

Practices of place-making through locative media artworks

Peer-reviewed

Gender effects on performance in Bulgarian private enterprises

Many of the newly established private enterprises in transition economies in Central and Eastern Europe (CEE) are owned and managed by women (Degtiar, 2000). However, there are limited research and knowledge on gender, management, and organization in CEE (Metcalfe and Afanassieva, 2005) and, particularly, on the performance of female-owned companies. Sporadic empirical evidence shows that female-owned companies have worse performance than male-owned companies in transition economies (Drnovsek and Glas, 2006; Aidis, 2006). The purpose of this paper is twofold. First, we study the factors that affect the performance of female-owned companies in a transition context. Second, we compare how performance varies between female and male-owned businesses in such a context. Combining the Feminist Theory, the Institutional Theory, and the literature on determinants of firm performance, we derive hypotheses about the determinants of the performance of female-owned companies and about gender differences in performance. The proposed hypotheses are tested in a sample of 501 private Bulgarian companies. Our results indicate that a number of individual, organizational, and environmental characteristics are significant determinants of the performance of both female and male-owned companies. Although there are gender differences in performance, they disappear when other factors are controlled for. We conclude with some recommendations for policy implications and place the current results in respect to future research.

Narrating urban entrepreneurship: a matter of imagineering?

The battle between cities with regard to their creative possibilities has evolved into a process of multiplying ever-new images and variegated stories of urban attractiveness and success. Engineering “cool” images and “hot” stories about one’s city is now a central endeavor in the narratives of urban policy-making that center more and more on the idea of the entrepreneurial city. The making of an entrepreneurial image is enacted through various narrative genres that lie somewhere between place making and place marketing, between branding and boosting, between restoration and revanchism, between iconic architecture and mega-spectacle. This “imagineering” is not only part of the way cities try to (re)present themselves as entrepreneurial to various audiences through a real “image inflation” (Zukin, 2008, p. xii) but is 1 Forthcoming in: B. Lange,.A. Kalandides, B. Stoeber, I. Wellmann (Hrsg.) (2009): Governance der Kreativwirtschaft. Diagnosen und Handlungsoptionen. Transcript-Verlag, Bielefeld. 2 also inscribed in the various ways urban creativity and entrepreneurship can be studied, researched and imagined. In this chapter we aim to differentiate the political narratives of the entrepreneurial city as we emphasize the need to understand the politics of narration and make a plea for critical reflexivity in our forms of researching and theorizing. We will thus try to investigate how the politics of narration is intertwined with the narration of political concepts and will argue that the narrating of urban entrepreneurship can raise very different images and discourses of city life beyond those that are currently engineered. We will distinguish between a grand narrative, a counter-narrative, and an assemblage of more ambivalent little narratives, which we call prosaic narration. While the distinction between these three types might be seen as a bit too simple and “straight”, we believe that by juxtaposing these different forms of narration and alternating between them, we can help problematize the engineering of the city as entrepreneurial and imagine alternative views both of city life and of what is understood as its creativity.

Estudi de comportaments socials d'aixams robòtics amb aplicació a la neteja d'espais no estructurats

La intel·ligència d’eixams és una branca de la intel·ligència artificial que està agafant molta força en els últims temps, especialment en el camp de la robòtica. En aquest projecte estudiarem el comportament social sorgit de les interaccions entre un nombre determinat de robots autònoms en el camp de la neteja de grans superfícies. Un cop triat un escenari i un robot que s’ajustin als requeriments del projecte, realitzarem una sèrie de simulacions a partir de diferents polítiques de cerca que ens permetran avaluar el comportament dels robots per unes condicions inicials de distribució dels robots i zones a netejar. A partir dels resultats obtinguts serem capaços de determinar quina configuració genera millors resultats.

Disseny i desenvolupament d'un sistema de gestió de les comunitats de veïns

Les comunitats de veïns i els seus problemes han evolucionat molt el darrer segle; la impossibilitat de trobar un horari de reunió comú compatible, la falta de temps per a realitzar tasques administratives o la desinformació en l’àmbit jurídic en són exemples. Aquest projecte presenta una solució adaptada a aquestes necessitats basada en una eina TIC de gestió de comunitats que estalviarà temps i diners a veïns i professionals, posant a l’abast la informació i els diferents recursos relatius a la gestió de la comunitat en qualsevol lloc i moment, automatitzant part del procés administratiu dels gestors de comunitats

TFCshop : botiga virtual JavaEE

L'aplicació en qüestió consisteix en un front-end web per a l'exposició al públic del catàleg de productes d'una empresa qualsevol, que permeti als clients localitzar i consultar els productes que li interessen i efectuar comandes si ho desitja.

MotorsJMM : Aplicació Web de Botiga Electronica

El director comercial fa ja temps que demana una web corporativa en la que els seus clients puguin consultar les característiques tècniques dels productes i puguin fer les seves comandes. A més aquesta web podria servir com aparador per nous clients i per realçar la imatge de qualitat de l'empresa.

Tienda virtual para una empresa de muebles de cocina

El projecte estarà dedicat a dos tipus de clients: particulars i industrials ia la gestió que s'haurà de fer dels productes oferts (altes, baixes, manteniments, etc.). El web estarà configurada en un servidor d'aplicacions i constarà de dues parts: La interfície de l'administrador per al manteniment dels clients i articles i la interfície del client que li permetrà navegar pel catàleg i així poder fer les comandes dels productes que estiguin interessats. Utilitzarem els estàndards que ofereix el mercat per al programari de servidor (JSP, Struts, J2EE, etc.).