917 resultados para Simulation in robotcs


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Previous work of the research group [1-4] demonstrated the viability of using periodic lattices of micro and nanopillars, called Bio-photonic sensing Cells (BICELLs), as an optical biosensor vertically characterized by visible spectrometry. Also we have studied theoretically [5] the performance of the BICELLs by 2D and 3D simulation in orde r to optimize the biosensing response. In this work we present the fabrication and biosensing comparison of different geometrical parameters on periodic lattices of pillars in order to discuss theoretical conclusions with these results. In this way, we have explored the biosensing response of other patter ns such as crosses, stars, cylinders, concentrical cylinders (Figure 1). Also we introduced a novel method to test the BICELLs in a cost-effective way by using an ultra-thin film of SU-8 spin-coated onto the patterns to reproduce the effect of a biofilm attached to the biosensor surface. Finally we have tested the biosensing response of the different geometries by the well-known Bovine Serum Albumin (BSA) immunoassay and compared with the theoretical simulation.

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La tecnología moderna de computación ha permitido cambiar radicalmente la investigación tecnológica en todos los ámbitos. El proceso general utilizado previamente consistía en el desarrollo de prototipos analógicos, creando múltiples versiones del mismo hasta llegar al resultado adecuado. Este es un proceso costoso a nivel económico y de carga de trabajo. Es por ello por lo que el proceso de investigación actual aprovecha las nuevas tecnologías para lograr el objetivo final mediante la simulación. Gracias al desarrollo de software para la simulación de distintas áreas se ha incrementado el ritmo de crecimiento de los avances tecnológicos y reducido el coste de los proyectos en investigación y desarrollo. La simulación, por tanto, permite desarrollar previamente prototipos simulados con un coste mucho menor para así lograr un producto final, el cual será llevado a cabo en su ámbito correspondiente. Este proceso no sólo se aplica en el caso de productos con circuitería, si bien es utilizado también en productos programados. Muchos de los programas actuales trabajan con algoritmos concretos cuyo funcionamiento debe ser comprobado previamente, para después centrarse en la codificación del mismo. Es en este punto donde se encuentra el objetivo de este proyecto, simular algoritmos de procesado digital de la señal antes de la codificación del programa final. Los sistemas de audio están basados en su totalidad en algoritmos de procesado de la señal, tanto analógicos como digitales, siendo estos últimos los que están sustituyendo al mundo analógico mediante los procesadores y los ordenadores. Estos algoritmos son la parte más compleja del sistema, y es la creación de nuevos algoritmos la base para lograr sistemas de audio novedosos y funcionales. Se debe destacar que los grupos de desarrollo de sistemas de audio presentan un amplio número de miembros con cometidos diferentes, separando las funciones de programadores e ingenieros de la señal de audio. Es por ello por lo que la simulación de estos algoritmos es fundamental a la hora de desarrollar nuevos y más potentes sistemas de audio. Matlab es una de las herramientas fundamentales para la simulación por ordenador, la cual presenta utilidades para desarrollar proyectos en distintos ámbitos. Sin embargo, en creciente uso actualmente se encuentra el software Simulink, herramienta especializada en la simulación de alto nivel que simplifica la dificultad de la programación en Matlab y permite desarrollar modelos de forma más rápida. Simulink presenta una completa funcionalidad para el desarrollo de algoritmos de procesado digital de audio. Por ello, el objetivo de este proyecto es el estudio de las capacidades de Simulink para generar sistemas de audio funcionales. A su vez, este proyecto pretende profundizar en los métodos de procesado digital de la señal de audio, logrando al final un paquete de sistemas de audio compatible con los programas de edición de audio actuales. ABSTRACT. Modern computer technology has dramatically changed the technological research in multiple areas. The overall process previously used consisted of the development of analog prototypes, creating multiple versions to reach the proper result. This is an expensive process in terms of an economically level and workload. For this reason actual investigation process take advantage of the new technologies to achieve the final objective through simulation. Thanks to the software development for simulation in different areas the growth rate of technological progress has been increased and the cost of research and development projects has been decreased. Hence, simulation allows previously the development of simulated protoypes with a much lower cost to obtain a final product, which will be held in its respective field. This process is not only applied in the case of circuitry products, but is also used in programmed products. Many current programs work with specific algorithms whose performance should be tested beforehand, which allows focusing on the codification of the program. This is the main point of this project, to simulate digital signal processing algorithms before the codification of the final program. Audio systems are entirely based on signal processing, both analog and digital systems, being the digital systems which are replacing the analog world thanks to the processors and computers. This algorithms are the most complex part of every system, and the creation of new algorithms is the most important step to achieve innovative and functional new audio systems. It should be noted that development groups of audio systems have a large number of members with different roles, separating them into programmers and audio signal engineers. For this reason, the simulation of this algorithms is essential when developing new and more powerful audio systems. Matlab is one of the most important tools for computer simulation, which has utilities to develop projects in different areas. However, the use of the Simulink software is constantly growing. It is a simulation tool specialized in high-level simulations which simplifies the difficulty of programming in Matlab and allows the developing of models faster. Simulink presents a full functionality for the development of algorithms for digital audio processing. Therefore, the objective of this project is to study the posibilities of Simulink to generate funcional audio systems. In turn, this projects aims to get deeper into the methods of digital audio signal processing, making at the end a software package of audio systems compatible with the current audio editing software.

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En el proyecto se realiza el estudio del comportamiento acústico y electroacústico de la sala 5 de los cines Kinépolis de Madrid. El objetivo es determinar las características acústicas de la sala mediante la realización de las medidas in-situ para después analizar y simular la misma con EASE4.4, realizar una sonorización apropiada para reproducción de cine, valorar la sala actual y proponer algunas mejoras. El desarrollo del proyecto se ha dividido en tres partes. En primer lugar, se realizan las medidas espaciales y acústicas in-situ con el programa de toma de medidas Dirac 5.5. En este paso, se obtienen las medidas reales (usadas en la simulación 3D posterior) y los dos parámetros acústicos importantes inherentes a la sala, el tiempo de reverberación y el ruido de fondo. Además, se estudia el conexionado de altavoces y de los equipos instalados en sala. En segundo lugar, se hace la simulación de la sala, para ello se realiza su diseño con el programa de simulación acústica EASE 4.4, con el que se ajustan las condiciones de campo a las existentes en Kinépolis, asegurando que el comportamiento acústico de la sala simulada sea similar al real. También se distribuirá el sistema electroacústico con la descripción del conexionado y la configuración de los altavoces. En la simulación, durante el estudio acústico, además de desarrollar el dimensionado del recinto, se ajustan los materiales de tal manera que el tiempo de reverberación sea el de la sala de estudio considerando también el ruido de fondo. En cuanto al estudio electroacústico, se distribuyen los altavoces en las posiciones medidas in-situ de la instalación y se detalla su conexionado. De esta manera, se realizan los cálculos para ajustar sus respuestas para proporcionar un recubrimiento sonoro uniforme y el efecto precedencia desde la zona frontal al oyente deseado. Finalmente, y a partir de los datos obtenidos en la simulación, se hace una valoración a través de diversos criterios de inteligibilidad, se extraen las conclusiones del estudio y se proponen una serie de mejoras en la sala real para obtener unas prestaciones sonoras óptimas. Se consigue con el proyecto, tras el aprendizaje de las herramientas específicas utilizadas, la recopilación de documentación y el análisis de datos de la sala, aplicar los conceptos teóricos de manera práctica a un caso real. ABSTRACT. During the project is carried out the acoustic and electroacoustic study of the room cinema 5 of the Kinépolis group in Madrid. The objective is to determine the acoustic characteristics of the room by performing the in-situ measurements in order to analyze and simulate it with the software EASE 4.4 making an appropriate sound for movie playback, assess the current room, and propose some improvements. Development of the project is composed of three parts. First, the performing of the spatial and acoustic in-situ measurements with the program Dirac 5.5. On this step, the real measures are obtained (that will be used on the next 3D simulation) and the two important parameters inherent to the room, the reverberation time and the noise level. In addition, the speaker connections and the installations of the cinema’s equipment are studied. Secondly, the simulation of the room cinema is performed. This simulation is done with the acoustic simulation program EASE 4.4 in which its field conditions conform to the conditions of Kinépolis, ensuring that the acoustic behavior of the simulated room is similar to the real room. Also, the electroacustic system is distributed with the wiring and the speaker setup. During the acoustic study of the simulation, in addition to do the dimensions of the cinema room, the materials are adjusted in order to synchronize reverberation time to that of the real room. The noise level is taking in account too. For the electroacustic studio, the speakers will be distributed in the positions measured in-situ to do the installation and its detailed connection. By this way, the calculations are done to adjust to the responses in a way to give a sound uniform coating with the precedence effect desired on the front area of the listeners. Lastly, and from the data obtained in the simulation, an assessment is done through the various criteria of intelligibility, conclusions are drawn from the study and a number of improvements are proposed in the actual room for obtain optimal sound benefits. With this project is achieved, after gain learning of the specific tolls used, the documentation collected and the data analysis of the room, to apply theoretical concepts in a practical way for a real case.

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En el siguiente proyecto se va a llevar a cabo la simulación en la plataforma Matlb Simulink de una maquina síncrona de imanes permanentes (MSIP) en su funcionamiento como generador, emulando un aerogenerador con tecnología SGFC. El generador tendrá como variable de consigna la velocidad de giro del eje y se ajustara el sistema de control para que sea capaz de seguir la señal de consigna ante cambios bruscos del par. Posteriormente se va a detallar y construir todos los elementos que se consideren necesarios para, en proyectos futuros, llevar a la práctica en una maquina real este sistema de control ABSTRACT The object of this Project is to carry a simulation in Matlab Simulink of a synchronous permanent magnets machine (MSIP) in its operation as a generator, emulating a wind turbine technology SGFC. The variable setpoint will be the rotational speed of the shaft, the control system will fit so that it is capable of following the setpoint signal before sudden changes of the pair. Afterward the elements considered necessary for to put into practice this control system in a real machine will be detailed.

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La situación energética actual es insostenible y como consecuencia se plantea un escenario próximo orientado a conseguir un futuro energético sostenible que permita el desarrollo económico y el bienestar social. La situación ambiental actual está afectada directamente por la combustión de combustibles fósiles que en 2013 constituyeron el 81% de la energía primaria utilizada por el ser humano y son la principal fuente antropogénica de gases de efecto invernadero. Los informes del IPCC1, ponen de manifiesto que el cambio climático se ha consolidado durante los últimos años y en la conferencia de la ONU sobre cambio climático de París que se celebrará a finales de 2015, se pretende que los gobiernos suscriban un acuerdo universal para limitar las emisiones de gases de efecto invernadero y evitar que el incremento de la temperatura media global supere los 2°C. Por otra parte, en el interior de las ciudades es especialmente preocupante, por su efecto directo sobre la salud humana, el impacto ambiental producido por las emisiones de NOx que generan el transporte de personas y mercancías. El sector del transporte fue responsable en 2012 del 27,9% del consumo final de energía. Una vez expuesto el escenario energético y ambiental actual, en esta tesis, se analiza la eficiencia de un sistema autónomo fotovoltaico para la carga de baterías de vehículos eléctricos y el uso del mismo con otras cargas, con el objetivo de aprovechar al máximo la energía eléctrica generada y contribuir a la utilización de energía limpia que no produzca impacto ambiental. Como primer paso para el desarrollo de la tesis se hizo un estudio de trabajos previos comenzando por las primeras aplicaciones de la energía fotovoltaica en los vehículos solares para después pasar a trabajos más recientes enfocados al suministro de energía a los vehículos eléctricos. También se hizo este estudio sobre las metodologías de simulación en los sistemas fotovoltaicos y en el modelado de distintos componentes. Posteriormente se eligieron, dentro de la amplia oferta existente en el mercado, los componentes con características técnicas más adecuadas para este tipo de instalaciones y para las necesidades que se pretenden cubrir. A partir de los parámetros técnicos de los componentes elegidos para configurar la instalación autónoma y utilizando modelos contrastados de distintos componentes, se ha desarrollado un modelo de simulación en ordenador del sistema completo con el que se han hecho simulaciones con distintos modos de demanda de energía eléctrica, según los modos de carga disponibles en el vehículo eléctrico para corriente alterna monofásica de 230 V. También se han simulado distintos tamaños del generador fotovoltaico y del sistema de acumulación de energía eléctrica para poder determinar la influencia de estos parámetros en los balances energéticos del sistema. Utilizando recursos propios el doctorando ha realizado la instalación real de un sistema fotovoltaico que incluye sistema de acumulación e inversor en un edificio de su propiedad. Para la realización de la tesis, La Fundación de Fomento e Innovación Industrial (F2I2) ha facilitado al doctorando un dispositivo que permite realizar la alimentación del vehículo eléctrico en modo 2 (este modo emplea un adaptador que incorpora dispositivos de seguridad y se comunica con el vehículo permitiendo ajustar la velocidad de recarga) y que ha sido necesario para los trabajos desarrollados. Se ha utilizado la red eléctrica como sistema de apoyo de la instalación fotovoltaica para permitir la recarga en el modo 2 que requiere más potencia que la proporcionada por el sistema fotovoltaico instalado. Se han analizado mediante simulación distintos regímenes de carga que se han estudiado experimentalmente en la instalación realizada, a la vez que se han hecho ensayos que se han reproducido mediante simulación con los mismos valores de radiación solar y temperatura con objeto de contrastar el modelo. Se han comparado los resultados experimentales con los obtenidos mediante simulación con objeto de caracterizar el comportamiento del sistema de acumulación (energía eléctrica suministrada y tensión de salida en las baterías) y del generador fotovoltaico (energía eléctrica fotovoltaica suministrada). Por último, se ha realizado un estudio económico de la instalación autónoma fotovoltaica ejecutada y simulada. En el mismo se ha planteado la utilización de fondos propios (como realmente se ha llevado a cabo) y la utilización de financiación, para determinar dos posibles escenarios que pudieran ser de utilidad a un propietario de vehículo eléctrico. Se han comparado los resultados obtenidos en los dos escenarios propuestos del estudio económico del sistema, en cuanto a los parámetros de tiempo de retorno de la inversión, valor actual neto de la inversión y tasa interna de retorno de la misma. Las conclusiones técnicas obtenidas, permiten la utilización del sistema con los modos de carga ensayados y otro tipo de cargas que aprovechen la generación eléctrica del sistema. Las baterías ofrecen mejor comportamiento cuando el aporte fotovoltaico está presente, pero no considera adecuado la conexión de cargas elevadas a un sistema de acumulación de gel (plomo-acido) como el que se ha utilizado, debido al comportamiento de este tipo de baterías ante demandas de intensidad de corriente eléctrica elevadas. Por otra parte, el comportamiento de este tipo de baterías con valores de intensidad de corriente eléctrica inferiores a 10 A en ausencia de energía fotovoltaica, con el objetivo de utilizar la generación de energía eléctrica diaria acumulada en el sistema, sí resulta interesante y ofrece un buen comportamiento del sistema de acumulación. Las circunstancias actuales de mercado, que carece de sistemas de acumulación de litio con precios de compra interesantes, no han permitido poder experimentar este sistema de acumulación en la instalación autónoma fotovoltaica ejecutada, tampoco se ha podido obtener el favor de ningún fabricante para ello. Actualmente hay disponibles sistemas de acumulación en litio que no se comercializan en España y que serían adecuados para el sistema de acumulación de energía propuesto en este estudio, que deja abierta las puertas para futuros trabajos de investigación. Las conclusiones económicas obtenidas, rentabilizan el uso de una instalación autónoma fotovoltaica con consumo instantáneo, sin acumulación de energía eléctrica. El futuro de conexión a red por parte de estas instalaciones, cuando se regule, aportará un incentivo económico para rentabilizar con menos tiempo las instalaciones autónomas fotovoltaicas, esto también deja la puerta abierta a futuros trabajos de investigación. El sistema de acumulación de energía aporta el mayor peso económico de inversión en este tipo de instalaciones. La instalación estudiada aporta indicadores económicos que la hacen rentable, pero se necesitaría que los precios de acumulación de la energía en sistemas eficientes estén comprendidos entre 100-200 €/kWh para que el sistema propuesto en este trabajo resulte atractivo a un potencial propietario de un vehículo eléctrico. ABSTRACT The current energy situation is untenable; it poses a scenario next focused on reaching a sustainable energy future, to allow economic development and social welfare. The environmental current situation is affected directly by the combustion of fossil fuels that in 2013 constituted 81 % of the primary energy used by the human being and they are the principal source human of greenhouse gases. The reports of the IPCC2, they reveal that the climate change has consolidated during the last years and in the conference of the UNO on climate change of Paris that will be celebrated at the end of 2015, there is claimed that the governments sign a universal agreement to limit the emission of greenhouse gases and to prevent that the increase of the global average temperature overcomes them 2°C. On the other hand, inside the cities it is specially worrying, for his direct effect on the human health, the environmental impact produced by the NOx emissions that generate the persons' transport and goods. The sector of the transport was responsible in 2012 of 27,9 % of the final consumption of energy. Once exposed the scenario and present environmental energy, in this thesis, it has analyzed the efficiency of an autonomous photovoltaic system for charging electric vehicles, and the use of the same with other workloads, with the objective to maximize the electrical energy generated and contribute to the use of clean energy that does not produce environmental impact. Since the first step for the development of the thesis did to itself a study of previous works beginning for the first applications of the photovoltaic power in the solar vehicles later to go on to more recent works focused on the power supply to the electrical vehicles. Also this study was done on the methodologies of simulation in the photovoltaic systems and in the shaped one of different components. Later they were chosen, inside the wide existing offer on the market, the components with technical characteristics more adapted for this type of facilities and for the needs that try to cover. From the technical parameters of the components chosen to form the autonomous installation and using models confirmed of different components, a model of simulation has developed in computer of the complete system with which simulations have been done by different manners of demand of electric power, according to the available manners of load in the electrical vehicle for single-phase alternating current of 230 V. Also there have been simulated different sizes of the photovoltaic generator and of the system of accumulation of electric power to be able to determine the influence of these parameters in the energy balances of the system. Using own resources the PhD student has realized a real installation of a photovoltaic system that includes system of accumulation and investing in a building of his property. For the accomplishment of the thesis, The Foundation of Promotion and Industrial Innovation (F2I2) it has facilitated to the PhD student a device that allows to realize the supply of the electrical vehicle in way 2 (this way uses an adapter that incorporates safety devices and communicates with the vehicle allowing to fit the speed of recharges) and that has been necessary for the developed works. The electrical network has been in use as system of support of the photovoltaic installation for allowing it her recharges in the way 2 that more power needs that provided by the photovoltaic installed system. There have been analyzed by means of simulation different rate of load that have been studied experimentally in the realized installation, simultaneously that have done to themselves tests that have reproduced by means of simulation with the same values of solar radiation and temperature in order the model contrasted. The experimental results have been compared by the obtained ones by means of simulation in order to characterize the behavior of the system of accumulation (supplied electric power and tension of exit in the batteries) and of the photovoltaic generator (photovoltaic supplied electric power). Finally, there has been realized an economic study of the autonomous photovoltaic executed and simulated installation. In the same one there has appeared the utilization of own funds (since really it has been carried out) and the utilization of financing, to determine two possible scenes that could be of usefulness to an owner of electrical vehicle. There have been compared the results obtained in both scenes proposed of the economic study of the system, as for the parameters of time of return of the investment, current clear value of the investment and rate hospitalizes of return of the same one. The technical obtained conclusions, they make the utilization of the system viable with the manners of load tested and another type of loads of that they take advantage the electrical generation of the system. The batteries offer better behavior when the photovoltaic contribution is present, but he does not consider to be suitable the connection of loads risen up to a system of accumulation of gel (lead - acid) as the one that has been in use, due to the behavior of this type of batteries before demands of intensity of electrical current raised. On the other hand, the behavior of this type of batteries with low values of intensity of electrical current to 10 To in absence of photovoltaic power, with the aim to use the generation of daily electric power accumulated in the system, yes turns out to be interesting and offers a good behavior of the system of accumulation. The current circumstances of market, which lacks systems of accumulation of lithium with interesting purchase prices, have not allowed to be able to experience this system of accumulation in the autonomous photovoltaic executed installation, neither one could have obtained the favor of any manufacturer for it. Nowadays there are available systems of accumulation in lithium that is not commercialized in Spain and that they would be adapted for the system of accumulation of energy proposed in this study, which makes the doors opened for future works of investigation. The economic obtained conclusions; they make more profitable the use of an autonomous photovoltaic installation with instantaneous consumption, without accumulation of electric power. The future of connection to network on the part of these facilities, when it is regulated, will contribute an economic incentive to make profitable with less time the autonomous photovoltaic facilities, this also leaves the door opened for future works of investigation. The system of accumulation of energy contributes the major economic weight of investment in this type of facilities. The studied installation contributes economic indicators that make her profitable, but it would be necessary that the prices of accumulation of the energy in efficient systems are understood between 100-200 € in order that the system proposed in this work turns out to be attractive to a proprietary potential of an electrical vehicle.

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We created a simulation based on experimental data from bacteriophage T7 that computes the developmental cycle of the wild-type phage and also of mutants that have an altered genome order. We used the simulation to compute the fitness of more than 105 mutants. We tested these computations by constructing and experimentally characterizing T7 mutants in which we repositioned gene 1, coding for T7 RNA polymerase. Computed protein synthesis rates for ectopic gene 1 strains were in moderate agreement with observed rates. Computed phage-doubling rates were close to observations for two of four strains, but significantly overestimated those of the other two. Computations indicate that the genome organization of wild-type T7 is nearly optimal for growth: only 2.8% of random genome permutations were computed to grow faster, the highest 31% faster, than wild type. Specific discrepancies between computations and observations suggest that a better understanding of the translation efficiency of individual mRNAs and the functions of qualitatively “nonessential” genes will be needed to improve the T7 simulation. In silico representations of biological systems can serve to assess and advance our understanding of the underlying biology. Iteration between computation, prediction, and observation should increase the rate at which biological hypotheses are formulated and tested.

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Tranformed-rule up and down psychophysical methods have gained great popularity, mainly because they combine criterion-free responses with an adaptive procedure allowing rapid determination of an average stimulus threshold at various criterion levels of correct responses. The statistical theory underlying the methods now in routine use is based on sets of consecutive responses with assumed constant probabilities of occurrence. The response rules requiring consecutive responses prevent the possibility of using the most desirable response criterion, that of 75% correct responses. The earliest transformed-rule up and down method, whose rules included nonconsecutive responses, did not contain this limitation but failed to become generally accepted, lacking a published theoretical foundation. Such a foundation is provided in this article and is validated empirically with the help of experiments on human subjects and a computer simulation. In addition to allowing the criterion of 75% correct responses, the method is more efficient than the methods excluding nonconsecutive responses in their rules.

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Three studies investigated the relation between symbolic gestures and words, aiming at discover the neural basis and behavioural features of the lexical semantic processing and integration of the two communicative signals. The first study aimed at determining whether elaboration of communicative signals (symbolic gestures and words) is always accompanied by integration with each other and, if present, this integration can be considered in support of the existence of a same control mechanism. Experiment 1 aimed at determining whether and how gesture is integrated with word. Participants were administered with a semantic priming paradigm with a lexical decision task and pronounced a target word, which was preceded by a meaningful or meaningless prime gesture. When meaningful, the gesture could be either congruent or incongruent with word meaning. Duration of prime presentation (100, 250, 400 ms) randomly varied. Voice spectra, lip kinematics, and time to response were recorded and analyzed. Formant 1 of voice spectra, and mean velocity in lip kinematics increased when the prime was meaningful and congruent with the word, as compared to meaningless gesture. In other words, parameters of voice and movement were magnified by congruence, but this occurred only when prime duration was 250 ms. Time to response to meaningful gesture was shorter in the condition of congruence compared to incongruence. Experiment 2 aimed at determining whether the mechanism of integration of a prime word with a target word is similar to that of a prime gesture with a target word. Formant 1 of the target word increased when word prime was meaningful and congruent, as compared to meaningless congruent prime. Increase was, however, present for whatever prime word duration. In the second study, experiment 3 aimed at determining whether symbolic prime gesture comprehension makes use of motor simulation. Transcranial Magnetic Stimulation was delivered to left primary motor cortex 100, 250, 500 ms after prime gesture presentation. Motor Evoked Potential of First Dorsal Interosseus increased when stimulation occurred 100 ms post-stimulus. Thus, gesture was understood within 100ms and integrated with the target word within 250 ms. Experiment 4 excluded any hand motor simulation in order to comprehend prime word. The effect of the prior presentation of a symbolic gesture on congruent target word processing was investigated in study 3. In experiment 5, symbolic gestures were presented as primes, followed by semantically congruent target word or pseudowords. In this case, lexical-semantic decision was accompanied by a motor simulation at 100ms after the onset of the verbal stimuli. Summing up, the same type of integration with a word was present for both prime gesture and word. It was probably subsequent to understanding of the signal, which used motor simulation for gesture and direct access to semantics for words. However, gesture and words could be understood at the same motor level through simulation if words were preceded by an adequate gestural context. Results are discussed in the prospective of a continuum between transitive actions and emblems, in parallelism with language; the grounded/symbolic content of the different signals evidences relation between sensorimotor and linguistic systems, which could interact at different levels.

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Este trabalho propõe uma técnica de modelagem multiescala concorrente do concreto considerando duas escalas distintas: a mesoescala, onde o concreto é modelado como um material heterogêneo, e a macroescala, na qual o concreto é tratado como um material homogêneo. A heterogeneidade da estrutura mesoscópica do concreto é idealizada considerando três fases distintas, compostas pelos agregados graúdos e argamassa (matriz), estes considerados materiais homogêneos, e zona de transição interfacial (ZTI), tratada como a parte mais fraca entre as três fases. O agregado graúdo é gerado a partir de uma curva granulométrica e posicionado na matriz de forma aleatória. Seu comportamento mecânico é descrito por um modelo constitutivo elástico-linear, devido a sua maior resistência quando comparado com as outras duas fases do concreto. Elementos finitos contínuos com alta relação de aspecto em conjunto com um modelo constitutivo de dano são usados para representar o comportamento não linear do concreto, decorrente da iniciação de fissuras na ZTI e posterior propagação para a matriz, dando lugar à formação de macrofissuras. Os elementos finitos de interface com alta relação de aspecto são inseridos entre todos os elementos regulares da matriz e entre os da matriz e agregados, representando a ZTI, tornando-se potenciais caminhos de propagação de fissuras. No estado limite, quando a espessura do elemento de interface tende a zero (h ?0) e, consequentemente, a relação de aspecto tende a infinito, estes elementos apresentam a mesma cinemática da aproximação contínua de descontinuidades fortes (ACDF), sendo apropriados para representar a formação de descontinuidades associados a fissuras, similar aos modelos coesivos. Um modelo de dano à tração é proposto para representar o comportamento mecânico não linear das interfaces, associado à formação de fissuras, ou até mesmo ao eventual fechamento destas. A fim de contornar os problemas causados pela malha de elementos finitos de transição entre as malhas da macro e da mesoescala, que, em geral, apresentam diferenças expressivas 5 de refinamento, utiliza-se uma técnica recente de acoplamento de malhas não conformes. Esta técnica é baseada na definição de elementos finitos de acoplamento (EFAs), os quais são capazes de estabelecer a continuidade de deslocamento entre malhas geradas de forma completamente independentes, sem aumentar a quantidade total de graus de liberdade do problema, podendo ser utilizados tanto para acoplar malhas não sobrepostas quanto sobrepostas. Para tornar possível a análise em multiescala em casos nos quais a região de localização de deformações não pode ser definida a priori, propõe-se uma técnica multiescala adaptativa. Nesta abordagem, usa-se a distribuição de tensões da escala macroscópica como um indicador para alterar a modelagem das regiões críticas, substituindo-se a macroescala pela mesoescala durante a análise. Consequentemente, a malha macroscópica é automaticamente substituída por uma malha mesoscópica, onde o comportamento não linear está na iminência de ocorrer. Testes numéricos são desenvolvidos para mostrar a capacidade do modelo proposto de representar o processo de iniciação e propagação de fissuras na região tracionada do concreto. Os resultados numéricos são comparados com os resultados experimentais ou com aqueles obtidos através da simulação direta em mesoescala (SDM).

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Na mesma proporção que fontes de água potável são reduzidas, a competição por elas tem aumentado, conseqüência imediata da expansão de áreas urbanas e de novas demandas agro-industriais. Os conflitos gerados por esta competição tendem a comprometer o desenvolvimento sustentável e o progresso de uma forma geral, uma vez que resultam em perda de eficácia para vultuosos investimentos públicos e privados e em prejuízos para os usuários menos estruturados. Considerando os fatos acima, o objeto deste trabalho é o estabelecimento de cenários de alocação das disponibilidades hídricas entre usuários de água da bacia do Sapucaí-Mirim/Grande, visando determinar a convivência harmoniosa das várias finalidades de uso provenientes do mesmo recurso hídrico. Tal meta poderá ser alcançada através da análise dos indicadores de desempenho - confiabilidade, vulnerabilidade e resiliência - do sistema os quais serão obtidos com o auxílio do modelo de simulação IRAS (Interactive River Aquifer Simulation).

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Esta tese propõe a síntese e o estudo de uma nova técnica de cavidades de borda aplicada a antenas Vivaldi, com o intuito de melhorar suas características de diretividade. Embora as antenas do tipo Vivaldi possuam características diretivas, elas produzem radiações laterais indesejáveis, o que se reflete nos elevados índices de lóbulos laterais devido a correntes superficiais que fluem ao longo das bordas metalizadas nas laterais da antena. Estas correntes são a origem das radiações laterais que vêm sendo mitigadas pela aplicação de cavidades ressonantes, triangulares ou retangulares, que aprisionam tais correntes e, consequentemente, atenuam os lóbulos laterais, sem o incremento do lóbulo principal, uma vez que toda a energia dos lóbulos laterais é apenas confinada nos ressonadores e por isso literalmente perdida. Ao contrário desses esforços, este trabalho propõe cavidades radiantes tanto na forma de abertura exponencial, como na forma do fractais de Koch, que funcionam como radiadores auxiliares (antenas auxiliares), canalizando as correntes de borda e aproveitando-as para aumentar os níveis do lóbulo principal, mitigando os níveis de lóbulo lateral. A síntese desta nova técnica foi implementada em uma antena Vivaldi antipodal com características de baixa diretividade, como qualquer antena Vivaldi, o que foi corrigido e a aplicação da técnica de cavidades radiantes deu origem a duas novas antenas Vivaldis efetivamente diretivas. Os resultados foram obtidos através de simulações do modelo numérico no CST Microwave Studio e confirmados com medidas de laboratório, o que evidenciou a melhora das características de diretividade da antena pela aplicação da nova técnica de cavidades radiantes.

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Abstract—This paper describes an electrical model of the ventricles incorporating real geometry and motion. Cardiac geometry and motion is obtained from segmentations of multipleslice MRI time sequences. A static heart model developed previously is deformed to match the observed geometry using a novel shape registration algorithm. The resulting electrocardiograms and body surface potential maps are compared to a static simulation in the resting heart. These results demonstrate that introducing motion into the cardiac model modifies the ECG during the T wave at peak contraction of the ventricles.

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A current EPSRC project, product introduction process: a simulation in the extended enterprise (PIPSEE) is discussed. PIPSEE attempts to improve the execution of the product introduction process (PIP) within an extended enterprise in the aerospace sector. The modus operandi for accomplishing this has been to develop process understanding amongst a core team, spanning four different companies, through process modelling, review and improvement recommendation. In parallel, a web-based simulation capability is being used to conduct simulation experiments, and to disseminate findings by training others in the lessons that have been learned. It is intended that the use of the PIPSEE simulator should encourage radical thinking about the ‘fuzzy front end’ of the PIP. This presents a topical, exciting and challenging research problem.

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This thesis addresses the kineto-elastodynamic analysis of a four-bar mechanism running at high-speed where all links are assumed to be flexible. First, the mechanism, at static configurations, is considered as structure. Two methods are used to model the system, namely the finite element method (FEM) and the dynamic stiffness method. The natural frequencies and mode shapes at different positions from both methods are calculated and compared. The FEM is used to model the mechanism running at high-speed. The governing equations of motion are derived using Hamilton's principle. The equations obtained are a set of stiff ordinary differential equations with periodic coefficients. A model is developed whereby the FEM and the dynamic stiffness method are used conjointly to provide high-precision results with only one element per link. The principal concern of the mechanism designer is the behaviour of the mechanism at steady-state. Few algorithms have been developed to deliver the steady-state solution without resorting to costly time marching simulation. In this study two algorithms are developed to overcome the limitations of the existing algorithms. The superiority of the new algorithms is demonstrated. The notion of critical speeds is clarified and a distinction is drawn between "critical speeds", where stresses are at a local maximum, and "unstable bands" where the mechanism deflections will grow boundlessly. Floquet theory is used to assess the stability of the system. A simple method to locate the critical speeds is derived. It is shown that the critical speeds of the mechanism coincide with the local maxima of the eigenvalues of the transition matrix with respect to the rotational speed of the mechanism.

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The leadership categorisation theory suggests that followers rely on a hierarchical cognitive structure in perceiving leaders and the leadership process, which consists of three levels; superordinate, basic and subordinate. The predominant view is that followers rely on Implicit Leadership Theories (ILTs) at the basic level in making judgments about managers. The thesis examines whether this presumption is true by proposing and testing two competing conceptualisations; namely the congruence between the basic level ILTs (general leader) and actual manager perceptions, and subordinate level ILTs (job-specific leader) and actual manager. The conceptualisation at the job-specific level builds on context-related assertions of the ILT explanatory models: leadership categorisation, information processing and connectionist network theories. Further, the thesis addresses the effects of ILT congruence at the group level. The hypothesised model suggests that Leader-Member Exchange (LMX) will act as a mediator between ILT congruence and outcomes. Three studies examined the proposed model. The first was cross-sectional with 175 students reporting on work experience during a 1-year industrial placement. The second was longitudinal and had a sample of 343 students engaging in a business simulation in groups with formal leadership. The final study was a cross-sectional survey in several organisations with a sample of 178. A novel approach was taken to congruence analysis; the hypothesised models were tested using Latent Congruence Modelling (LCM), which accounts for measurement error and overcomes the majority of limitations of traditional approaches. The first two studies confirm the traditional theorised view that employees rely on basic-level ILTs in making judgments about their managers with important implications, and show that LMX mediates the relationship between ILT congruence and work-related outcomes (performance, job satisfaction, well-being, task satisfaction, intragroup conflict, group satisfaction, team realness, team-member exchange, group performance). The third study confirms this with conflict, well-being, self-rated performance and commitment as outcomes.