Manipulador robótico con visión artificial

En los tiempos que corren la robótica forma uno de los pilares más importantes en la industria y una gran noticia para los ingenieros es la referente a las ventas de estos, ya que en 2013, unos 179.000 robots industriales se vendieron en todo el mundo, de nuevo un máximo histórico y un 12% más que en 2012 según datos de la IFR (International Federation of Robotics). Junto a esta noticia, la robótica colaborativa entra en juego en el momento que los robots y los seres humanos deben compartir el lugar de trabajo sin que nos veamos excluidos por las maquinas, por lo tanto lo que se intenta es que los robots mejoren la calidad del trabajo al hacerse cargo de los trabajos peligrosos, tediosos y sucios que no son posibles o seguros para los seres humanos. Otro concepto muy importante y directamente relacionado con lo anterior que está muy en boga y se escucha desde hace relativamente poco tiempo es el de la fabrica del futuro o “Factory Of The Future” la cual intenta que los operarios y los robots encuentren la sintonía en el entorno laboral y que los robots se consideren como maquinaria colaborativa y no como sustitutiva, considerándose como uno de los grandes nichos productivos en plena expansión. Dejando a un lado estos conceptos técnicos que nunca debemos olvidar si nuestra carrera profesional va enfocada en este ámbito industrial, el tema central de este proyecto está basado, como no podía ser de otro modo, en la robótica, que junto con la visión artificial, el resultado de esta fusión, ha dado un manipulador robótico al que se le ha dotado de cierta “inteligencia”. Se ha planteado un sencillo pero posible proceso de producción el cual es capaz de almacenar piezas de diferente forma y color de una forma autónoma solamente guiado por la imagen capturada con una webcam integrada en el equipo. El sistema consiste en una estructura soporte delimitada por una zona de trabajo en la cual se superponen unas piezas diseñadas al efecto las cuales deben ser almacenadas en su lugar correspondiente por el manipulador robótico. Dicho manipulador de cinemática paralela está basado en la tecnología de cables, comandado por cuatro motores que le dan tres grados de libertad (±X, ±Y, ±Z) donde el efector se encuentra suspendido sobre la zona de trabajo moviéndose de forma que es capaz de identificar las características de las piezas en situación, color y forma para ser almacenadas de una forma ordenada según unas premisas iníciales.

Jean-Paul Marat (1743-1793), cientista e tradutor de Newton

Although Jean Paul Marat (1743-1793) is known as a political activist and as a founder of the controversial journal L'Ami du Peuple during the French Revolution, an important period of his life was spent as a medical practionner, and as a scientist. In 1765 he went to England, where he remained for eleven years mostly dedicated to medical practice and publications on that subject and on political and moral questions. Returning to France in 1776 he iniciated his researches on fire, electricity and light, that lasted practically until the French Revolution. In 1787 he published a translation of Newton's Opticks. In this article we describe in some detail his medical and scientific practice giving particular emphasis to his experiments on optics and to his theory about colors which strongly departs from newtonian theory, fully accepted by the French scientific community of the time.

Um experimento com propostas múltiplas para um laboratório de química geral

This article suggests a sequence of experiments on the preparation, analysis and some photochemical aspects of potassium tris (oxalato) ferrate(III) trihydrate. The sequence of experiments could be carried out in four or five 4-hour laboratory periods. The new part of this article is related to the kinetics studies involving the ambient illumination as well as the use of the cellophane paper of different colors as light filters. The aspects such as quantum yield, light absorption and photochemical reactions are explored in order to illustrate the relationships between the exposure time, light intensity and wavelength range on the photochemical reactions.

Evolution and Stellar Content of AGN Host Galaxies

In this dissertation, Active Galactic Nuclei (AGN) and their host galaxies are discussed. Together with transitional events, such as supernovae and gamma-ray bursts, AGN are the most energetic phenomena in the Universe. The dominant fraction of their luminosity originates from the center of a galaxy, where accreting gas falls into a supermassive black hole, converting gravitational energy to radiation. AGN have a wide range of observed properties: e.g. in their emission lines, radio emission, and variability. Most likely, these properties depend significantly on their orientation to our line-of-sight, and to unify AGN into physical classes it is crucial to observe their orientation-independent properties, such as the host galaxies. Furthermore, host galaxy studies are essential to understand the formation and co-evolution of galactic bulges and supermassive black holes. In this thesis, the main focus is on observationally characterizing AGN host galaxies using optical and near-infrared imaging and spectroscopy. BL Lac objects are a class of AGN characterized by rapidly variable and polarized continuum emission across the electromagnetic spectrum, and coredominated radio emission. The near-infrared properties of intermediate redshift BL Lac host galaxies are studied in Paper I. They are found to be large elliptical galaxies that are more luminous than their low redshift counterparts suggesting a strong luminosity evolution, and a contribution from a recent star formation episode. To analyze the stellar content of galaxies in more detail multicolor data, especially observations at blue wavelengths, are essential. In Paper III, optical - near-infrared colors and color gradients are derived for low redshift BL Lac host galaxies. They show bluer colors and steeper color gradients than inactive ellipticals which, most likely, are caused by a relatively young stellar population indicating a different evolutionary stage between AGN hosts and inactive ellipticals. In Paper II, near-infrared imaging of intermediate redshift radio-quiet quasar hosts is used to study their luminosity evolution. The hosts are large elliptical galaxies, but they are systematically fainter than the hosts of radio-loud quasars at similar redshifts, suggesting a link between the luminosity of the host galaxies and the radio properties of AGN. In Paper IV, the characteristics of near-infrared stellar absorption features of low redshift radio galaxies are compared with those of inactive early-type galaxies. The comparison suggests that early-type galaxies with AGN are in a different evolutionary stage than their inactive counterparts. Moreover, radio galaxies are found to contain stellar populations containing both old and intermediate age components.

Finançament universitari

El govern espanyol va decidir, contra l'opinió de tothom, augmentar l'exigència per obtenir una beca universitària. Deien que això milloraria l'ús dels recursos i que això no atempta contra la igualtat d'oportunitats. Els rectors opinen el contrari, jo també. D'arguments, n'hi ha de tots colors i d'ideologies també. L'Estat espanyol i, especialment, Catalunya tenen uns preus de matrícula alts, molt alts a Catalunya. Una 'rara avis' a Europa, amb un sistema de beques miserable tot i el programa de beques Equitat de la Generalitat

ROLOC. Transformation chromatic stripes

[cat] Roloc es basa en la codificació cromàtica d'imatges. Roloc analitza una imatge i, a partir d'uns colors predeterminats per l'usuari, la reconverteix en franges de diferents mides segons la seva proporció cromàtica. D'aquesta manera tota imatge es reordena en franges verticals de colors plans.

Da cor à cor inexistente: uma reflexão sobre espectros eletrônicos e efeitos cromáticos

Inexistent colors have been the inspiring theme of investigation by Israel Pedrosa, a Brazilian artist, who has devoted his life to creative painting, exploiting the chemical and physical effects associated with light, especially those generated in the light refraction domain. In this article, by focusing on the electronic spectra of phthalocyanines and gold nanoparticles, we discuss how such effects can influence the spectroscopic measurements, leading to inexistent bands and transitions.

Performance Evaluation and Calibration of Machine Vision Measurement

This thesis presents the calibration and comparison of two systems, a machine vision system that uses 3 channel RGB images and a line scanning spectral system. Calibration. is the process of checking and adjusting the accuracy of a measuring instrument by comparing it with standards. For the RGB system self-calibrating methods for finding various parameters of the imaging device were developed. Color calibration was done and the colors produced by the system were compared to the known colors values of the target. Software drivers for the Sony Robot were also developed and a mechanical part to connect a camera to the robot was also designed. For the line scanning spectral system, methods for the calibrating the alignment of the system and the measurement of the dimensions of the line scanned by the system were developed. Color calibration of the spectral system is also presented.

Titulações espectrofotométricas de sistemas ácido-base utilizando extrato de flores contendo antocianinas

Considering the attraction of the students' attention by the changes in the colors of vegetable crude extracts caused by the variation of the pH of the medium, the use of these different colors in order to demonstrate principles of spectrophotometric acid-base titrations using the crude extracts as indicators is proposed. The experimental setup consisted of a simple spectrophotometer, a homemade flow cell and a pump to propel the fluids along the system. Students should be stimulated to choose the best wavelength to monitor the changes in color during the titration. Since the pH of the equivalence point depends on the system titrated, the wavelength must be properly chosen to follow these changes, demonstrating the importance of the correct choice of the indicator. When compared with the potentiometric results, errors as low as 2% could be found using Rhododendron simsii (azalea) or Tibouchina granulosa (Glory tree, quaresmeira) as sources of the crude extracts.

Humphry Davy e as cores dos antigos

This article examines ideas held by Humphry Davy (1778-1829) about permanence, progress, experiments and practical application regarding chemistry. Furthermore, it relates ideas held in his "Some experiments and observations on the colours used in painting by the Ancients" (1815), with those maintained in Elements of Chemical Philosophy (1812), as well as to cogitations from his last years, disclosed in Consolations in travel (1830). Lastly, it brings up evidence that H. Davy's study about the colors of the ancients influenced his proposals for Chemical Philosophy and the science of his age.

Optimització de la tècnica del miralls màgics a partir de mesures de teoria de la informació

La visualització científica estudia i defineix algorismes i estructures de dades que permeten fer comprensibles conjunts de dades a través d’imatges. En el cas de les aplicacions mèdiques les dades que cal interpretar provenen de diferents dispositius de captació i es representen en un model de vòxels. La utilitat d’aquest model de vòxels depèn de poder-lo veure des del punt de vista ideal, és a dir el que aporti més informació. D’altra banda, existeix la tècnica dels Miralls Màgics que permet veure el model de vòxels des de diferents punts de vista alhora i mostrant diferents valors de propietat a cada mirall. En aquest projecte implementarem un algorisme que permetrà determinar el punt de vista ideal per visualitzar un model de vòxels així com també els punts de vista ideals per als miralls per tal d’aconseguir el màxim d’informació possible del model de vòxels. Aquest algorisme es basa en la teoria de la informació per saber quina és la millor visualització. L’algorisme també permetrà determinar l’assignació de colors òptima per al model de vòxels

Uso de scanner em espectrofotometria de absorção molecular: aplicação em experimento didático enfocando a determinação de ácido ascórbico

Quantitative analysis of colored substances is generally performed using a spectrophotometer for detection of radiation. However, the combination of digital images and mathematical conversion of colors is an alternative for quantitative procedures based on colored chemical reactions. This work proposes a didactic experiment using a scanner for determination of ascorbic acid in medicines based on the formation of the Prussian blue complex. Results were in good agreement with a conventional spectrophotometer method and the procedure is attractive for instrumental analysis undergraduate courses.

Influência das características físico-químicas e composição elementar nas cores de méis produzidos por Apis mellifera no sudoeste da Bahia utilizando análise multivariada

In this study honey samples produced in the southwest of Bahia were characterized based on physicochemical and mineral (Ca, Mg, Na, K, Mn, Fe and Zn) composition. The metals were determined by atomic absorption spectrophotometry. The application of multivariate analysis showed that the honey colors are consequence of the mineral and physicochemical compositions. The darkest honey samples are characterized by higher values of pH and for presenting a strong relationship with Ca and Fe content.

Um exemplo de aplicação da Microscopia Raman na autenticação de obras de arte

In the present work, Raman Microscopy was employed in the characterization of the pigments used in a drawing assigned to Tarsila do Amaral, one of the most important Brazilian artists. The work (colored pencil on paper), supposedly produced in the 1920 decade, is of a very simple composition, where blue, green and brown were the colors used. Prussian Blue was found as the blue pigment, whereas green was a mixture of copper phthalocyanine and a yellow dye, probably a diarylide; the brown pigment was a carbonaceous compound. Prussian Blue was replaced by phthalocyanine as pigment since the end of the 1930's and the possibility that it could have been used as pigment in the 1920's can be ruled out.

Benjamin's conception of language and Adorno's aesthetic theory

According to the theory of language of the young Benjamin, the primary task of language isn't the communication of contents, but to express itself as a "spiritual essence" in which also men take part. That conception according to which language would be a medium to signification of something outside it leads to a necessary decrease of its original strength and is thus denominated by Benjamin bürgerlich. The names of human language are remainders of an archaic state, in which things weren't yet mute and had their own language. Benjamin suggests also that all the arts remind the original language of things, as they make objects "speak" in form of sounds, colors, shapes etc. That relationship between arts as reminders of the "language of things" and the possible reconciliation of mankind with itself and with nature has been developed by Theodor Adorno in several of his writings, specially in the Aesthetic Theory, where the artwork is ultimately conceived as a construct pervaded by "language" in the widest meaning - not in the "bourgeois" sense.