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.

Fish colonization of artificial reefs in a large Neotropical reservoir: material type and successional changes

Artificial reefs have barely been used in Neotropical reservoirs (about five studies in three reservoirs), despite their potential as a fishery management tool to create new habitats and also to understand fish ecology. We experimentally assessed how reef material (ceramic, concrete, and PVC) and time modulated fish colonization of artificial reefs deployed in Itaipu Reservoir, a large reservoir of the mainstem Parana´ River, Brazil. Fish richness, abundance, and biomass were significantly greater in the reef treatments than at control sites. Among the experimental reefs, ceramic followed by the concrete treatments were the materials most effectively colonized, harboring the majority of the 13 fish species recorded. Although dependent on material type, many of the regularities of ecological successions were also observed in the artificial reefs, including decelerating increases in species richness, abundance, mean individual size, and species loss rates with time and decelerating decreases of species gain and turnover rates. Species composition also varied with material type and time, together with suites of life history traits: more equilibrium species (i.e., fishes of intermediate size that often exhibit parental care and produce fewer but larger offspring) of the Winemiller-Rose model of fish life histories prevailed in later successional stages. Overall, our study suggests that experimental reefs are a promising tool to understand ecological succession of fish assemblages, particularly in tropical ecosystems given their high species richness and low seasonality

Emprego de compostos organometálicos mononucleares de paládio(II) na ativação de macrófagos peritoneais de camundongos

The immune responses are mediated by a variety of cells that, when activated, produce a number of molecules. Macrophages are the first cells to take part in the immune response releasing many compounds in the extracellular environment such as H2O2. Taking into account this aspect we evaluated the activation of an immunological system, in vitro, by determining the H2O2 released in cultures of peritoneal macrophage cells from Swiss mice in the presence of organopalladated compounds of the type [Pd(dmba)(X)(dppp)], dmba = N,N-dimethylbenzylamine, dppp = 1,3-bis(diphenylphosphine)propane, X = Cl, N3, NCO, NCS. An excellent activation of macrophages by the [Pd(dmba)(X)(dppp)] compounds was observed and the influence of the X ligand on the immune response could be verified.

Inteligencia artificial para la detección y el diagnóstico de fallos

L' ús de tècniques de la intel·ligència artificial per a la detecció, la diagnòsi i control d' errors

Avaliação da fotodegradação de poliolefinas através de exposição natural e artificial

Samples of polypropylene (PP) and low-density polyethylene (LDPE) were submitted to ultraviolet radiation, in the natural environment and also in the laboratory. Chemical modifications were quantified by the carbonyl index (CI), mechanical properties and melt flow index. The degradation in the laboratory was comparatively faster than in the environment for both types of polymers. The accelerating factor was determined for the various properties investigated. This parameter, however, showed a large variation with the degradation criteria and the type of polymer. The existence of a "universal accelerating factor", therefore, was not observed in the current study.

O emprego da termogravimetria para determinar a energia de ativação do processo de combustão de óleos combustíveis

Activation energy (Ea) is a parameter that can be applied to make predictions about the quality of oils to be used in an ICO engine. In this study, Ea was determined by thermogravimetry following two different procedures: ASTM E 1641 and Model-free kinetics. The energies were calculated in the low temperature oxidation (LTO) region for three Brazilian fuel oils (denominated A, B and C) and the results were equal using both methods: 43 kJ mol-1 (alpha=0.1 to 0.9) for oil A, 48 kJ mol-1 (alpha=0.1 to 0.5) and 65 kJ mol-1 (alpha=0.5 to 0.9) for oil B, and 58 kJ mol-1 (alpha=0.1 to 0.5) and 65 kJ mol-1 (alpha=0.5 to 0.9) for oil C. It was concluded that, among the oils studied, sample A was potentially the best option concerning the behavior in the LTO region.

Aplicação de radiação UV artificial e solar no tratamento fotocatalítico de efluentes de curtume

Tannery effluents are very dangerous for the environment since they contain large amounts of dangerous and biorecalcitrant contaminants (organic matter and Cr(VI)). This paper reports the efficiency of heterogeneous photocatalysis, based on the application of solar and artificial radiation, furnished by UV lamps, using TiO2 fixed on a flat plate, in the treatment of synthetic effluents. The results of COD and Cr(VI) demonstrate that the use of solar radiation is the most efficient way to perform the photocatalytic treatment of these effluents since a minimum removal of 62 and 61% was observed for Cr(VI) and organic matter, respectively.

Degradação do pesticida Padron® por processos fotoquímicos utilizando luz artificial e solar

Destruction of Padron® (dye and picloram) was evaluated using a photoreactor and a solar reactor. Photolysis was observed using only a germicide lamp (GL). Black light (BL) and H2O2 (172 mmol L-1) promoted a conversion of 49% and 6% of dye and picloram, respectively. Photocatalytic processes were more efficient using TiO2/GL (96%-dye; 60%-picloram) than TiO2/BL (44%-dye; 40%-picloram). Photolysis using sunlight was not observed during PadronÒ recirculation in the reactor constructed with four borosilicate tubes. Meanwhile, adding H2O2 resulted in 12% conversion of dissolved organic compounds. Finally, the most efficient mineralization (60%) was obtained using the Fenton reaction ( H2O2-176 mmol L-1; FeSO4x6H2O-90 mmol L-1) and sunlight.

Efeito do intemperismo artificial em quatro madeiras tropicais monitorado por espectroscopia de infravermelho (DRIFT)

Four tropical woods, were investigated to compare their performance and natural resistances to artificial weathering using the diffuse reflectance infrared Fourier transform spectroscopy (DRIFT). The species were garapeira (Apuleia leiocarpa), itaúba (Mezilaurus itauba) and tauari (Couratari sp.), woods traditionally indicated for exterior uses, and marupá (Simarouba amara), that served as reference. The samples were submitted to cycles of UV radiation (350 nm) and water until 2,000 h. The photodegradation processes of woods surfaces were accomplished monitoring the changes in the intensities associated to lignin (1508 cm-1) and carbonyl group (1736 cm-1) absorptions. The results have shown that lignin was the first component to be photodegradated, resulting in surfaces mainly composed by cellulose, after 2,000 h of UV irradiation. The processes of formation and lixiviation of carbonyl compounds were different for each species. The experimental conditions used in this work were too severe to evaluate the wood density and extractives content influences during the treatment.

Projecte constructiu de llac artificial situat a la Bonaigua a l’estació d’esquí de Baqueira-Beret (Vall d’Aran)

El document té per objecte la definició a nivell constructiu de les obres de implantació d’una nova captació, un nou llac artificial, i la canonada de connexió per a la producció de neu artificial a l’estació d’esquí de Baqueira-Beret (Vall d’Aran), concretament a la zona de Bonaigua.

Estudio gráfico básico de lago artificial situado en Argulls. Estación de esquí de Baqueira-Beret. Vall d’Aran.

Propuesta gráfica de nuevo lago artificial en Argulls. Estación de esquí de Baqueria-Beret

Argilas bentoníticas da península de Santa Elena, Equador: pilarização, ativação ácida e seu uso como descolorante de óleo de soja

Two samples of calcic bentonite of the Santa Elena Peninsula, Ecuador, were pillared with Al13 ions in the ratio of 10, 15 and 20 meq of Al g-1 of clay, calcinated at 573, 723 and 873 ºK and acid activated with 4, 6 and 8 mol L-1 H2SO4. Analyses by X-ray diffraction, X-ray fluorescence, differential and gravimetric thermal, density, surface area and porosity, were applied in order to study the modifications occurred in the crystalline structure of the montmorillonite. The 8 mol L-1 H2SO4 acid-activated 15 meq of Al g-1 of clay at 573 ºK Al-pillared samples indicated the best results in the bleaching of the soybean oil measured by UV-visible spectrophotometer.

O desafio da ativação das ligações C-H em síntese orgânica

This review aims at to the presentation and discussion of the principal aspects of the C-H activation by transition metals. Representative examples were selected from the recent literature to illustrate these principles beginning with somewhat simple examples and moving up to more complex ones. The synthetic potential of the C-H activation, as well as the potential advantages and disadvantages of the methodology are highlighted with relevant recent examples, along with brief insights on the mechanism aspects of these reactions.

Aplicação de técnicas multivariadas e inteligência artificial na análise de espectros de infravermelho para determinação de matéria orgânica em amostras de solos

In this paper studies based on Multilayer Perception Artificial Neural Network and Least Square Support Vector Machine (LS-SVM) techniques are applied to determine of the concentration of Soil Organic Matter (SOM). Performances of the techniques are compared. SOM concentrations and spectral data from Mid-Infrared are used as input parameters for both techniques. Multivariate regressions were performed for a set of 1117 spectra of soil samples, with concentrations ranging from 2 to 400 g kg-1. The LS-SVM resulted in a Root Mean Square Error of Prediction of 3.26 g kg-1 that is comparable to the deviation of the Walkley-Black method (2.80 g kg-1).

Triagem de suportes orgânicos e protocolos de ativação na imobilização e estabilização de lipase de Thermomyces lanuginosus

Lipase from Thermomyces lanuginosus was covalently immobilized on activated poly-hydroxybutyrate, sugarcane bagasse and the chemically modified hybrid hydrogel chitosan-alginate prepared by different strategies. Among the tested supports, chitosan-alginate chemically modified with 2,4,6-trinitrobenzenesulfonic acid rendered derivatives with the highest hydrolytic activity and thermal-stability, 45-fold more stable than soluble lipase and was then selected for further studies. The pH of maximum activity was similar for both immobilized and free lipase (pH 8.0) while optimum temperature was 5 - 10 ºC higher for the immobilized lipase. Higher yields in the butyl butyrate synthesis were found for the derivatives prepared by activation with glycidol and epichlorohydrin.