SCARA motako robot industrialaren simulazio birtuala eta interakzioa

[EU]Gradu amaierako lan honetan, Industria Ingenieritza graduan zehar emandako zenbait irakasgaietan landutako kontzeptuak oinarri bezala hartuta SCARA robot industrialaren analisia egin da. Lau askatasun gradu dituzten robot hauek oso erabiliak dira industrian beraien lan ziklo azkar, karga handiak jasateko kapazitate, errepikortasun eta aplikazio ugariengatik. Proiektua, bi zati nagusitan banandu da: SCARA motako robot baten analisi zinematikoa, robotaren irudikapena eta ibilbideen sorkuntza Matlab programa erabiliz. Adept Cobra e-Vario 600, SCARA motako prototipo errealarekin interakzioa. Proiektuan zehar garatuko diren edukien egitura ondorengoa izango da: Lehenik eta behin, proiektuko lehen atalean proiektua kokatuta dagoen testuinguruaren azalpena emango da, baita ere testuinguru horrek gaur egun, sail desberdinetan, duen garrantzia. Proiektuko bigarren atalean, lana egiterakoan proposatu diren helburuak eta proiektuak eskaintzen dituen onurak adieraziko dira. Bestetik, proiektuko hirugarren atalean, gaiaren egoeran, SCARA robotera heldu arte robotek historian zehar izan duten garapena eta hauen sailkapen desberdinak azalduko dira. Laugarren atalean, metodologian, proiektu honetan garatuko diren bi zati nagusien deskribapen zehatza emango da. Azkenik, proiektuko azken atalean, lana burutzeko bete behar izan diren ataza bakoitzaren deskribapena eta iraupena, aurrekontua, arriskuen analisia eta proiektu honetatik atera ditugun ondorioak ematen dira.

A seven year study of the life cycle of the Mayfly Ephemera danica

Ephemera danica Müller, 1764 (Ephemeroptera) is one of the largest mayflies found in the British Isles with some females reaching over 30 mm. It is a common and widespread species found in rivers, lakes and streams throughout Europe and is particularly abundant in many of the lowland rivers of the British Isles. The larvae are burrowers – mainly found where silt accumulates below macrophytes. This article gives a general overview of research work on the factors affecting the life cycle of Ephemera danica over a seven year period (1995–2002) on two rivers, the River Test at Leckford in Hampshire and the North Wey at Tilford in Surrey.

Life cycle of Pisidium obtusale Jenyns. [Translation from: Informatsionnyi Byulleten Biologiya Vnutrennikh Vod No.3 17-21, 1969.]

Pisidium obtusale in the neighbourhood of Borka occurs in deep pools on upland bogs. The majority of water-bodies where this mollusc lives are temporary. Their bottoms are covered with sedges, and sometimes mosses occur. Evidently there is a marked attraction of P. obtusale to places overgrown by willow. In pools remote from scrub or woody vegetation it does not appear. Temporary water-bodies fill up with melt water in the middle or the end of April and finally dry up at the end of July or the beginning of August. Observations on the life cycle of P. obtusale started on 21 April 1966, following on the filling-up of the water-body by melt water. The findings of the study are presented in this paper.

Cytological aspects of gonadotropic cells and pre-opticoneurohypophysial neurosecretion during the ovarian cycle of Eudontomyzon danfordi. [Translation from: Studia Univ.Babes-Bolyai, Biologia 18 105-113, 1973.]

The connection between the activity of the gonadotropic cells of the hypophysis and the neurosecretion in the pre-optico neuro-hypophysial system in different groups of vertebrates has been examined by many authors. It has been established that in many species there exists some kind of synchronism between the sexual cycle and the cellular activity of neurosecretion, a fact that has led to the prevailing idea that gonadotropic activity in the hypophysis is regulated by the hypothalamus. This paper summarises the results of experiments made in this direction on Cyclostomata. The materials for research came from adult individuals of Eudontomyson danfordi Regan taken from the rivers Somes-Rece and Ivo (Harghita district) at different times of the year.

Taxonomic description of Peridinium lomnickii, P.lomnickii var. splendida and P. wierzejskii [Translation from: Flora Slodkowodna Polski. Tom 4. Cryptophyceae, Dinophyceae, Raphidoiphyceae, p326,328-330. Warsaw, 1974]

This partial translation from a larger paper provides taxonomic descriptions of the dinoflagellates Peridinium lomnickii, P.lomnickii var. splendida and P. wierzejskii. Illustrations are included.

Individual growth and seasonal cycle of Daphnia middendorffiana in an Alpine lake [Translation from: Memorie dell'Istituto Italiano di Idrobiologia Dott.Marco de Marchi 26 41-83, 1970]

The problem of the peculiar reproductive biology of the cladoceran Daphnia middendorffiana is investigated from a cytological viewpoint, and by direct observation the meiotic phenomena of the eggs both subitaneous and resting is studied. and during maturation, the true mechanism of the succession of reproductive phases of different ecological significance. Samples were collected in the Italian Alpine Lake of Campo 4°.

The role of ciliates in the pelagic life cycle of the Mediterranean [Translation from: Rapports et Proces Verbaux des Reunions-Conseil International pour l'Exploration de la Mer 17, 511-512, 1963]

During hydrographic and plankton studies carried out since 1960 in the coastal zone between the Ebro and Castellon (western Mediterranean), data has been collected which confirms the importance of ciliates in the composition and activity of the plankton. The ciliates in 413 samples of 100 ml of water were counted, having been examined with the Utermohl microscope after sedimentation. The samples studied were distributed according to the density of their population. subject for study. The author concludes that recognition of the role of ciliates as an important link in the food chain of the sea would simplify the interpretation of certain problems posed by the nutrition of certain groups of planktonic animals.

Sphaerotilus natans: description of the morphology, growth and systematics of [Translation from: Schr. Ver. Zellstoff u. Pap.-Chem. u. -Ing., 26, 20-37, 1956]

The morphology, increase and systematica of Sphaerotilus natans is studied and culture methods examined.

Physiological aspects of the life cycle of the river lamprey, Lampetra fluviatilis L

The life cycle of the river lamprey, L. fluviatilis, is reviewed. The larval lamprey, or ammocoete, is a blind, filter-feeding animal, which normally lies concealed in the silt deposits of streams and rivers. After a period of 3-5 years in fresh water the ammocoete undergoes a metamorphosis in the summer months into a sexually immature, non-feeding stage known as the macrophthalia, which is active. This stage migrates downstream in late winter. It adopts a parasitic existence, in intertidal areas. After 18 months it returns to spawn in fresh water, after a final freshwater stage lasting up to 9 months. The river lamprey dies within a few days after the spawning period of 3-4 weeks, and none survive to spawn the following year.

Part I. Synchronization of the cell division cycle of HeLa cells in suspension cultures. Part II. Studies on chromosomal proteins of HeLa cells during the cell division cycle

Part I

These studies investigate the potential of single and double treatments with either 5-fluorodeoxyuridine of excess thymidine to induce cell division synchrony in suspension cultures of HeLa cells. The patterns of nucleic acid synthesis and cell proliferation have been analyzed in cultures thus synchronized. Several changes in cell population during long incubation with 5-fluorodeoxyuridine or excess thymidine are also described. These results are subjected to detailed evaluation in terms of the degree and quality of synchrony finally achieved.

Part II

Histones and non-histone proteins associated with interphase and metaphase chromosomes of HeLa cells have been qualitatively and quantitatively analyzed. Histones were fractionated by chromatography on Amberlite CG-50 and further characterized by analytical disc electrophoresis and amino acid analysis of each chromatographic fraction. It is concluded that histones of HeLa cells are comprised of only a small number of major components and that these components are homologous to those of other higher organisms. Of all the histones, arginine-rich histone III alone contains cysteine and can polymerize through formation of intermolecular disulfide bridges between histone III monomers.

A detailed comparison by chromatography and disc electrophoresis established that interphase and metaphase histones are made up of similar components. However, certain quantitative differences in proportions of different histones of interphase and metaphase cells are reported. Indirect evidence indicates that a certain proportion of metaphase histone III is polymerized through intermolecular disulfide links, whereas interphase histone III occurs mainly in the monomeric form.

Metaphase chromosomes are associated with an additional acid-soluble protein fraction which is absent from interphase chromosomes. All of these additional acid-soluble proteins of metaphase chromosomes are shown to be non-histones and it is concluded that the histone/DNA ratio is identical in interphase and metaphase chromosomes. The bulk of acid-soluble non-histone proteins of metaphase chromosomes were found to be polymerized through disulfide bridges; corresponding interphase non-histone proteins displayed no evidence of similar polymerization.

The factors responsible for the condensed configuration and metabolic inactivity of metaphase chromosomes are discussed in light of these findings.

The relationship between histone and DNA synthesis in nondividing differentiated chicken erythrocyte cells and in rapidly dividing undifferentiated HeLa cells is also investigated. Of all the histones, only arginine-rich histones are synthesized in mature erythrocytes. Histone synthesis in HeLa cells was studied in both unsynchronized and synchronized cultures. In HeLa cells, only part of the synthesis of all histone fractions is dependent on concurrent DNA synthesis, whereas all histones are synthesized in varying degrees even in the absence of DNA synthesis.

A kinetic theory description for external spherical flows with arbitrary Knudsen number by a moment method

The Maxwell integral equations of transfer are applied to a series of problems involving flows of arbitrary density gases about spheres. As suggested by Lees a two sided Maxwellian-like weighting function containing a number of free parameters is utilized and a sufficient number of partial differential moment equations is used to determine these parameters. Maxwell's inverse fifth-power force law is used to simplify the evaluation of the collision integrals appearing in the moment equations. All flow quantities are then determined by integration of the weighting function which results from the solution of the differential moment system. Three problems are treated: the heat-flux from a slightly heated sphere at rest in an infinite gas; the velocity field and drag of a slowly moving sphere in an unbounded space; the velocity field and drag torque on a slowly rotating sphere. Solutions to the third problem are found to both first and second-order in surface Mach number with the secondary centrifugal fan motion being of particular interest. Singular aspects of the moment method are encountered in the last two problems and an asymptotic study of these difficulties leads to a formal criterion for a "well posed" moment system. The previously unanswered question of just how many moments must be used in a specific problem is now clarified to a great extent.