Modelado de Cadenas Cinemáticas mediante Matrices de Desplazamiento. Una alternativa al método de Denavit-Hartenberg

En este trabajo se presenta un método para el modelado de cadenas cinemáticas de robots que salva las dificultades asociadas a la elección de los sistemas de coordenadas y obtención de los parámetros de Denavit-Hartenberg. El método propuesto parte del conocimiento de la posición y orientación del extremo del robot en su configuración de reposo, para ir obteniendo en qué se transforman éstas tras los sucesivos movimientos de sus grados de libertad en secuencia descendente, desde el más alejado al más cercano a su base. Los movimientos son calculados en base a las Matrices de Desplazamiento, que permiten conocer en que se transforma un punto cuando éste es desplazado (trasladado o rotado) con respecto a un eje que no pasa por el origen. A diferencia del método de Denavit-Hartenberg, que precisa ubicar para cada eslabón el origen y las direcciones de los vectores directores de los sistemas de referencia asociados, el método basado en las Matrices de Desplazamiento precisa solo identificar el eje de cada articulación, lo que le hace más simple e intuitivo que aquel. La obtención de las Matrices de Desplazamiento y con ellas del Modelo Cinemático Directo a partir de los ejes de la articulación, puede hacerse mediante algunas simples operaciones, fácilmente programables.

Evaluating the reinforcement of inorganic fullerene-like nanoparticles in thermoplastic matrices by depth-sensing indentation

The reinforcing effect of inorganic fullerene-like tungsten disulfide (IF-WS2) nanoparticles in two different polymer matrices, isotactic polypropylene (iPP) and polyphenylene sulfide (PPS), has been investigated by means of dynamic depth-sensing indentation. The hardness and elastic modulus enhancement upon filler addition is analyzed in terms of two main contributions: changes in the polymer matrix nanostructure and intrinsic properties of the filler including matrix-particle load transfer. It is found that the latter mainly determines the overall mechanical improvement, whereas the nanostructural changes induced in the polymer matrix only contribute to a minor extent. Important differences are suggested between the mechanisms of deformation in the two nanocomposites, resulting in a moderate mechanical enhancement in case of iPP (20% for a filler loading of 1%), and a remarkable hardness increase in case of PPS (60% for the same filler content). The nature of the polymer amorphous phase, whether in the glassy or rubbery state, seems to play here an important role. Finally, nanoindentation and dynamic mechanical analysis measurements are compared and discussed in terms of the different directionality of the stresses applied.

Differential elimination by differential specialization of Sylvester style matrices

Differential resultant formulas are defined, for a system $\cP$ of $n$ ordinary Laurent differential polynomials in $n-1$ differential variables. These are determinants of coefficient matrices of an extended system of polynomials obtained from $\cP$ through derivations and multiplications by Laurent monomials. To start, through derivations, a system $\ps(\cP)$ of $L$ polynomials in $L-1$ algebraic variables is obtained, which is non sparse in the order of derivation. This enables the use of existing formulas for the computation of algebraic resultants, of the multivariate sparse algebraic polynomials in $\ps(\cP)$, to obtain polynomials in the differential elimination ideal generated by $\cP$. The formulas obtained are multiples of the sparse differential resultant defined by Li, Yuan and Gao, and provide order and degree bounds in terms of mixed volumes in the generic case.

Skeletal matrices, muci, and the origin of invertebrate calcification.

The sudden appearance of calcified skeletons among many different invertebrate taxa at the Precambrian-Cambrian transition may have required minor reorganization of preexisting secretory functions. In particular, features of the skeletal organic matrix responsible for regulating crystal growth by inhibition may be derived from mucous epithelial excretions. The latter would have prevented spontaneous calcium carbonate overcrusting of soft tissues exposed to the highly supersaturated Late Proterozoic ocean [Knoll, A. H., Fairchild, I. J. & Swett, K. (1993) Palaios 8, 512-525], a putative function for which we propose the term "anticalcification." We tested this hypothesis by comparing the serological properties of skeletal water-soluble matrices and mucous excretions of three invertebrates--the scleractinian coral Galaxea fascicularis and the bivalve molluscs Mytilus edulis and Mercenaria mercenaria. Crossreactivities recorded between muci and skeletal water-soluble matrices suggest that these different secretory products have a high degree of homology. Furthermore, freshly extracted muci of Mytilus were found to inhibit calcium carbonate precipitation in solution.

Plasma Spectroscopic Techniques Applied to Biological and Environmental Matrices

The purpose of this research was to apply the use of direct ablation plasma spectroscopic techniques, including spark-induced breakdown spectroscopy (SIBS) and laser-induced breakdown spectroscopy (LIBS), to a variety of environmental matrices. These were applied to two different analytical problems. SIBS instrumentation was adapted in order to develop a fieldable monitor for the measurement of carbon in soil. SIBS spectra in the 200 nm to 400 nm region of several soils were collected, and the neutral carbon line (247.85 nm) was compared to total carbon concentration determined by standard dry combustion analysis. Additionally, Fe and Si were evaluated in a multivariate model in order to determine their impacts on the model's predictive power for total carbon concentrations. The results indicate that SIBS is a viable method to quantify total carbon levels in soils; obtaining a good correlation between measured and predicated carbon in soils. These results indicate that multivariate analysis can be used to construct a calibration model for SIBS soil spectra, and SIBS is a promising method for the determination of total soil carbon. SIBS was also applied to the study of biological warfare agent simulants. Elemental compositions (determined independently) of bioaerosol samples were compared to the SIBS atomic (Ca, Al, Fe and Si) and molecular (CN, N2 and OH) emission signals. Results indicate a linear relationship between the temporally integrated emission strength and the concentration of the associated element. Finally, LIBS signals of hematite were analyzed under low pressures of pure CO2 and compared with signals acquired with a mixture of CO2, N2 and Ar, which is representative of the Martian atmosphere. This research was in response to the potential use of LIBS instrumentation on the Martian surface and to the challenges associated with these measurements. Changes in Ca, Fe and Al lineshapes observed in the LIBS spectra at different gas compositions and pressures were studied. It was observed that the size of the plasma formed on the hematite changed in a non-linear way as a function of decreasing pressure in a CO2 atmosphere and a simulated Martian atmosphere.

Validez de constructo de tres escalas de satisfacción del paciente mediante la estrategia de matrices multirrasgo-multimétodo

Se emplea el diseño de las matrices multirrasgo-multimétodo (MTMM) en la evaluación de la satisfacción del paciente. La muestra, extraída al azar simple, fue de 254 pacientes ingresados en tres hospitales del Servei Valencià de Salut de la provincia de Alicante, mayores de 16 años, conscientes y orientados. Los instrumentos de medida fueron tres escalas de satisfacción, dos de carácter general y una específica con los cuidados de enfermería, todas autoinformes. Los rasgos evaluados fueron varias dimensiones de satisfacción, y los métodos tres tipos de formulación de items y escalas de respuesta. Se ha empleado el análisis factorial confirmatorio, siguiéndose la estrategia de constrastar varios modelos alternativos (Widaman, 1985; Marsh, 1989). Los resulta dos indican que: la varianza de método es elevada, superior a la de rasgos; existe validez convergente; los rasgos están altamente correlacionados, pero hay evidencia de validez discriminante; dos métodos están altamente correlacionados; y no se ha podido estimar el modelo general de matrices MTMM.

An hybrid parallel algorithm for solving tridiagonal linear systems versus the Wang’s method in a Cray T3D BSP computer

In this paper we describe an hybrid algorithm for an even number of processors based on an algorithm for two processors and the Overlapping Partition Method for tridiagonal systems. Moreover, we compare this hybrid method with the Partition Wang’s method in a BSP computer. Finally, we compare the theoretical computation cost of both methods for a Cray T3D computer, using the cost model that BSP model provides.

A public key cryptosystem based on block upper triangular matrices

We propose a public key cryptosystem based on block upper triangular matrices. This system is a variant of the Discrete Logarithm Problem with elements in a finite group, capable of increasing the difficulty of the problem while maintaining the key size. We also propose a key exchange protocol that guarantees that both parties share a secret element of this group and a digital signature scheme that provides data authenticity and integrity.

Fast pseudorandom generator based on packed matrices

Pseudorandom generators are a basic foundation of many cryptographic services and information security protocols. We propose a modification of a previously published matricial pseudorandom generator that significantly improves performance and security. The resulting generator is successfully compared to world class standards.

An optimized pseudorandom generator using packed matrices

Most cryptographic services and information security protocols require a dependable source of random data; pseudorandom generators are convenient and efficient for this application working as one of the basic foundation blocks on which to build the required security infrastructure. We propose a modification of a previously published matricial pseudorandom generator that significantly improves performance and security by using word packed matrices and modifying key scheduling and bit extraction schemes. The resulting generator is then successfully compared to world class standards.

Análisis de las relaciones morfología-propiedades en nanocompuestos basados en matrices de copolímeros de bloque

El objetivo principal de la presente investigación ha sido desarrollar una nueva clase de materiales nanocompuestos orgánicos-inorgánicos basados en la capacidad de los copolímeros de bloque de auto-organizarse promoviendo la dispersión de nanopartículas, así como relacionar las diferentes morfologías obtenidas con las propiedades finales de los nanocompuestos. Para generar la nanoestructuración de estos nanocompuestos basados en copolímeros de bloque, como el poli(estireno-b-isopreno-b-estireno) (SIS) y el poli(estireno-b-butadieno-b-estireno) (SBS) en nanopartículas de plata, se han utilizado los conceptos de compatibilización y confinamiento. Es decir, las nanopartículas inorgánicas se confinaron en una sola fase del copolímero de bloque mediante tratamientos superficiales y su funcionalización física. En particular, se utilizaron surfactantes (el cloruro de tetrametilamonio, TMAC, y el dodecanotiol, DT) para favorecer la interacción entre las nanopartículas inorgánicas y la matriz polimérica. Teniendo en cuenta los cálculos teóricos de los parámetros de solubilidad obtenidos mediante la teoría de Hoftizer-Van Krevelen, y la electronegatividad propia de los diferentes elementos, los dos surfactantes elegidos tienen una muy buena compatibilidad con el bloque de estireno favoreciendo la localización de las nanopartículas de plata en este bloque.

Comparison of methods for the determination of total available residual chlorine in various sample matrices /

Bibliography: p. 28-29.

Vente de matrices d'imprimerie

Detached from France. Comité des travaux historiques et scientifiques. Section d'archéologie. Bulletin archéologique. 1889.